可重构变刚度柔性驱动器的设计与性能分析

段韦婕,秦慧斌,刘荣,李中一,白绍平

Design and performance analysis of reconfigurable variable stiffness compliant actuator

Weijie DUAN,Huibin QIN,Rong LIU,Zhongyi LI,Shaoping BAI

表3 变刚度柔性驱动器的动力学参数

Table 3 Dynamics parameters of variable stiffness compliant actuator

参数 数值 负载等效转动惯量Ip/(kg·m2) 1.784×10-3 电机等效转动惯量Im/(kg·m2) 1.1×10-7 减速器等效转动惯量Ig/(kg·m2) 6×10-8 VSM等效转动惯量Ivsm/(kg·m2) 3×10-5 负载阻尼系数Bp/(Nms/rad) — 电机阻尼系数Bm/(Nms/rad) 3.96×10-6 VSM阻尼系数Bvsm/(Nms/rad) 0.02 负载质量mp/kg 0.080 43 电机输出力矩Tm/Nm — VSM输出扭矩Tp/Nm — 负载连杆长度lp/m 0.062 26 减速器传动比i 1∶63 减速器效率η 0.7