烟台大学学报（自然科学与工程版）2025，Vol.38Issue(2)：233-238,6.DOI:10.13951/j.cnki.37-1213/n.231207
气动变刚度绳驱柔性机械臂结构设计与刚度分析
Structural Design and Stiffness Analysis of Flexible Pneumatic Cable-Driven Manipulator with Aerodynamic Variable Stiffness
摘要
Abstract
To address the limited stiffness range in cable tension adjustment of cable-driven flexible manipulator,this paper presents the design of a two-degree of freedom joint with variable aerodynamic stiffness.By adjusting air pressure,the friction force exerted by an air bag on the joint's rotating shaft was modified,expanding the adjusta-ble stiffness range of the cable-driven flexible manipulator.A stiffness model for the manipulator was established,and its stiffness with pneumatic joints was calculated based on the tension of the driving cable.Finally,an experi-mental platform for the manipulator's stiffness was constructed to verify the design's effectiveness in extending the adjustable stiffness range of the cable-driven flexible manipulator.关键词
绳驱机械臂/变刚度关节/气动变刚度/刚度调节Key words
cable-drive manipulator/variable stiffness joint/aerodynamic variable stiffness/stiffness regulation分类
机械制造引用本文复制引用
王昌辉,袁港,梁美,张龙..气动变刚度绳驱柔性机械臂结构设计与刚度分析[J].烟台大学学报（自然科学与工程版）,2025,38(2):233-238,6.基金项目
国家自然科学基金资助项目(62205280). （62205280）
