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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Bidirectional torsional negative stiffness mechanism for energy balancing systems
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Bidirectional torsional negative stiffness mechanism for energy balancing systems

机译：能量平衡系统的双向扭转负刚度机制

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摘要

A new concept of an integrated bidirectional torsional negative stiffness mechanism is introduced which allows for passive energy balancing of mechanical systems by reducing actuation requirements and improving energy efficiency. This novel design is a modular device, is bidirectional and is easily integrated and customised for different applications. The energy balance concept is achieved by employing a negative stiffness system to couple with a positive stiffness system of the mechanical system to create a zero stiffness system which can be driven with lower energy requirements. The bidirectional torsional negative stiffness mechanism proposed here uses a series of pre-compressed springs around a bidirectional torque shaft to convert decreasing force in the springs into increasing torque output through geometric reconfiguration to generate the negative stiffness characteristic. The kinematics of the negative stiffness mechanism were derived and a physical model was assembled from LEGO (R) components for validation. An analytical model was developed for prediction and the numerical results showed that a satisfactory performance can be generated to match the torque requirements. An experimental demonstrator was then built and tested to verify the predictions from the analysis. To show the impact of the energy balancing concept on actuator efficiency, a representative case study is made of a tendon-driven morphing active camber mechanism. The performance of the optimised bidirectional negative stiffness device is investigated to shows an improvement by the kinematics tailoring. (C) 2018 Elsevier Ltd. All rights reserved.
机译：引入了一种综合双向扭转负刚度机构的新概念，其通过减少致动要求和提高能效来允许机械系统的被动能量平衡。这种新颖的设计是一个模块化设备，是双向的，很容易集成和定制不同的应用。通过采用负刚度系统来实现能量平衡概念来实现与机械系统的正刚度系统耦合，以产生零刚度系统，该系统可以以较低的能量要求驱动。这里提出的双向扭转负刚度机制在双向扭矩轴周围使用一系列预压缩弹簧，以通过几何重新配置​​将弹簧中的减小力转换成增加扭矩输出以产生负刚度特性。导出负刚度机制的运动学，并从乐高（R）组分中组装物理模型进行验证。开发了一种分析模型以进行预测，数值结果表明，可以产生令人满意的性能以匹配扭矩要求。然后建立并测试实验示范器以验证从分析中的预测。为了表明能量平衡概念对执行器效率的影响，代表性案例研究由肌腱驱动的变形活性弯曲机构制成。研究了优化的双向负刚度装置的性能，以通过运动学剪裁显示出改善。 （c）2018年elestvier有限公司保留所有权利。

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