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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
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Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition

机译：基于碰撞构型分解的空间三自由度顺应性机械臂刚度设计

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摘要

This paper proposes a method of stiffness design for a spatial Three Degrees of Freedom (3DOF) serial compliant manipulator with the objective of protecting the compliant joint actuators when the manipulator comes up against impact. System dynamic equations of serial compliant manipulators integrated with an impact model are linearized to identify the maximum joint torques in the impact. Based on this, a general procedure is given in which maximum joint torques are calculated with different directions of end-effector velocity and impact normal in the manipulator workspace based on a given magnitude of end-effector velocity. By tuning the stiffness for each compliant joint to ensure the maximum joint torque does not exceed the maximum value of the actuator, candidate stiffness values are obtained to make the compliant actuators safe in all cases. The theory and procedure are then applied to the spatial 3DOF serial compliant manipulator of which the impact configuration is decomposed into a 2DOF planar serial manipulator and a 1DOF manipulator with a 2DOF link based on the linearized impact-dynamic model. Candidate stiffness of the 3DOF serial compliant manipulator is obtained by combining analysis of the 2DOF and 1DOF manipulators. The method introduced in this paper can be used for both planar and spatial compliant serial manipulators.
机译：本文提出了一种空间三自由度（3DOF）系列顺应性机械臂的刚度设计方法，其目的是在机械臂受到冲击时保护顺应性关节致动器。与冲击模型集成的串行兼容机械手的系统动力学方程被线性化，以识别冲击中的最大关节转矩。基于此，给出了一个通用过程，其中，根据给定的末端执行器速度大小，在末端执行器速度的不同方向和操纵器工作空间中的冲击法线方向上计算最大关节转矩。通过调整每个柔顺关节的刚度以确保最大关节扭矩不超过致动器的最大值，可以获得候选刚度值，以使柔顺致动器在所有情况下均安全。然后将理论和程序应用于空间3DOF序列顺应性机械手，根据线性冲击动力学模型，将其冲击配置分解为2DOF平面串行机械手和具有2DOF链接的1DOF机械手。通过结合2DOF和1DOF机械手的分析获得3DOF串行兼容机械手的候选刚度。本文介绍的方法可用于平面和空间兼容的串行机械手。

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