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4 变刚度柔性驱动器动力学系统传递函数的极点

Table 4 Roots of transfer function of dynamics system of variable stiffness compliant actuator

平均刚度Ka/（Nm/rad） 特征方程的根 2 -5.605±33.432j 5 -5.605±52.908j 10 -5.605±74.846j