可调刚度致动器柔性单元设计及系统刚度辨识

方华 梅(中国航空制造技术研究院，中国)

摘要

可调刚度致动器的输出刚度线性度与其刚度调节范围相矛盾，传统的致动器难以实现兼容性设计。本文通过基于导杆机构刚度调节机构构型的在线重构，改变柔性单元变形与致动器变形的传动比特性，致动器具有高刚度和低刚度两种工作模式，且致动器在两个刚度模式下均具有较高的线性刚度，可拓展致动器的应用范围，提高其适用性。同时，本文针对传动结构刚度对致动器输出刚度的影响进行了建模与分析，在低刚度模式下进行模型参数辨识，并在高刚度模式下得到了有效的验证，可为致动器的结构优化设计提供指导。

关键词

可调刚度致动器；可重构；大比例变形柔性单元；传动结构刚度辨识；高线性度

参考

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DOI: http://dx.doi.org/10.12345/bdai.v6i3.28260