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

表2 变刚度柔性机械臂的剪切刚度与定位精度

Table 2 Shear stiffness and positioning accuracy of variable stiffness flexible manipulator

真空度/kPa 剪切刚度/（N/m） 定位精度/(º) 0 180 0.42 -13.3 240 0.25 -26.6 300 0.20 -39.9 360 0.19