基于散粒体阻塞机理的变刚度柔性机械臂研究

金洪杨,岳龙旺,刘景达,郑卫卫,赵朝,徐嘉辉

Research on flexible manipulator with variable stiffness based on particle blocking mechanism

Hongyang JIN,Longwang YUE,Jingda LIU,Weiwei ZHENG,Zhao ZHAO,Jiahui XU

图8 变刚度柔性机械臂实验平台1—空压机；2—控制电脑；3—直流电源；4—Arduino单片机；5—电磁阀；6—压力阀；7—变刚度柔性机械臂；8—角度传感器；9—位移传感器。

Fig.8 Experimental platform of variable stiffness flexible manipulator