Variable stiffness design of redundantly actuated planar rotational parallel mechanisms

作     者：Li Kangkang Jiang Hongzhou Cui Zuo Huang Qun 

作者机构：School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China 

基　　金：supported by the National Natural Science Foundation of China(No.51275127) 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2017年第30卷第2期

页      码：818-826页

摘      要：Redundantly actuated planar rotational parallel mechanisms（RAPRPMs） adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their *** geometrical parameters of the mechanism impact the performances of modulating *** expressions relating stiffness and geometrical parameters of the mechanism were formulated to obtain the necessary conditions of variable stiffness.A novel method of variable stiffness design was presented to optimize the geometrical parameters of the *** stiffness variation with the internal force was *** dynamic change of stiffness with the dynamic location of the mechanism was minimized,and the robustness of stiffness during the motion of the mechanism was *** new approach to variable stiffness design can enable off-line planning of the internal force to avoid the difficulties of on-line control of the internal force.

主 题 词：Internal force Parallel mechanisms Redundantly actuated Robustness Variable stiffness 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 0825[工学-环境科学与工程类] 

核心收录：

D　O　I：10.1016/j.cja.2016,07.001

馆 藏 号：203230650...