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工程设计学报
Chin J Eng Design  2023, Vol. 30 Issue (4): 449-455    DOI: 10.3785/j.issn.1006-754X.2023.00.046
Robotic and Mechanism Design     
Research on flexible manipulator with variable stiffness based on particle blocking mechanism
Hongyang JIN1(),Longwang YUE1(),Jingda LIU1,Weiwei ZHENG1,Zhao ZHAO1,Jiahui XU2
1.School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou 450001, China
2.Zhengzhou Great Wall Scientific Instrument Research Institute Co. , Ltd. , Zhengzhou 450001, China
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Abstract  

In order to improve the stiffness and control accuracy of flexible manipulators, the variable stiffness control for flexible manipulators was studied based on the particle blocking mechanism. A variable stiffness rod was formed by filling plastic particles in the flexibility silicone tube, and its stiffness model was built through the theoretical analysis and experimental research. Three variable stiffness rods were symmetrically arranged in parallel to form a variable stiffness flexible manipulator. Based on the established experimental platform, the variable stiffness control and positioning accuracy analysis for the flexible manipulator were carried out. The results showed that particle blocking could not only achieve the stiffness adjustment of the flexible manipulator, but also improve its control accuracy; the shear stiffness of the flexible manipulator was proportional to the vacuum degree of the variable stiffness rod, and the positioning accuracy of the flexible manipulator was also proportional to the shear stiffness of the variable stiffness rod. The research results are of great significance in promoting the wide application of flexible manipulators in the fields of industrial robots and service robots, and improving the safety of human-machine interaction and human-machine collaboration.

Key words： variable stiffness rod      flexible manipulator      positioning accuracy      particle blocking     
Received: 03 August 2022      Published: 04 September 2023
CLC:  TH 164  
Corresponding Authors: Longwang YUE     E-mail: jinhong.yang@163.com;yue_lw@163.com
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Hongyang JIN
Longwang YUE
Jingda LIU
Weiwei ZHENG
Zhao ZHAO
Jiahui XU
Cite this article:

Hongyang JIN,Longwang YUE,Jingda LIU,Weiwei ZHENG,Zhao ZHAO,Jiahui XU. Research on flexible manipulator with variable stiffness based on particle blocking mechanism. Chin J Eng Design, 2023, 30(4): 449-455.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.046     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I4/449


基于散粒体阻塞机理的变刚度柔性机械臂研究

为提高柔性机械臂的刚度和控制精度，基于散粒体阻塞机理对柔性机械臂的变刚度控制进行了研究。在柔性硅胶管内部填充塑料颗粒以构成变刚度杆，并通过理论分析和实验研究构建了其刚度模型。沿圆周方向对称并联布置3根变刚度杆以构成变刚度柔性机械臂，并基于搭建的实验平台对柔性机械臂进行变刚度控制和定位精度分析。结果表明：散粒体阻塞不仅可以实现柔性机械臂的刚度调节，还可以提高其控制精度；柔性机械臂的剪切刚度与变刚度杆的真空度成正比，柔性机械臂的定位精度与变刚度杆的剪切刚度也存在一定的正比关系。研究结果对促进柔性机械臂在工业机器人、服务机器人领域的广泛应用和提高人-机交互、人-机协同安全性有重要意义。


关键词： 变刚度杆,  柔性机械臂,  定位精度,  散粒体阻塞 
Fig.1 Variable stiffness rod structure
Fig.2 Shear model of variable stiffness rod
Fig.3 Internal force model of variable stiffness rod
Fig.4 Experimental device for mechanical characteristics of variable stiffness rod
Fig.5 Relationship curves of load force and displacement of variable stiffness rod under different vacuum degrees
Fig.6 Comparsion of theoretical value and experimental value of shear stiffness of variable stiffness rod
Fig.7 Variable stiffness flexible manipulator system
参数量值
初始长度510 mm
质量746 g
气动人工肌肉直径20 mm
最大弯曲角度90°
Table 1 Main parameters of variable stiffness flexible manipulator
Fig.8 Experimental platform of variable stiffness flexible manipulator
Fig.9 Driving experimental site of variable stiffness flexible manipulator
Fig.10 Driving performance curves of variable stiffness flexible manipulator
真空度/kPa剪切刚度/（N/m）定位精度/(o)
01800.42
-13.32400.25
-26.63000.20
-39.93600.19
Table 2 Shear stiffness and positioning accuracy of variable stiffness flexible manipulator
Fig.11 Relationship curve of positioning accuracy and shear stiffness of variable stiffness flexible manipulator
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