可调刚度致动器结构研究综述

doi:10.3901/JME.2018.13.034

摘要/Abstract

摘要： 可调刚度致动器具有本质安全性、高能效以及高动态特性，可以满足新一代机器人在物理性人机交互及高动态运动任务中的性能需求。根据刚度调节原理的不同，对常见的可调刚度致动器进行了分类，并分别对其刚度特性及调节范围、承载能力、变形能力以及储能能力进行了分析，然后对比和总结了各种刚度调节机构的性能特点。研究者在设计新装置时可以参考这些信息，根据自身应用需求以及不同种类刚度调节方式的性能侧重方向的不同，选择并设计合适的可调刚度致动器。对可调刚度致动器的现有结构存在的问题做出分析和讨论，并对其未来的发展方向做了展望。

关键词: 可调刚度致动器, 柔性关节, 柔性机器人

Abstract: Variable stiffness actuators (VSA) are developed to meet the strict requirements of the next generation of robots with physical human-robot interaction or high dynamic motions. These requirements pose new challenges to the design of actuators to make them safe, energy-efficient, and highly dynamic. A classification of the different VSAs based on the principles of stiffness adjustments is proposed. Then the stiffness properties, load capacities, deformability and energy capacities of each kind of VSAs are analyzed respectively and then compared and concluded. This conclusion allows for designers of new devices to choose and design VSAs according to their targeted application. The existing problems and future trends of VSAs are also discussed.

Key words: compliant joint, flexible robot, variable stiffness actuator

中图分类号:

TP242

毕树生, 刘畅, 周晓东, 于靖军. 可调刚度致动器结构研究综述[J]. 机械工程学报, 2018, 54(13): 34-46.

BI Shusheng, LIU Chang, ZHOU Xiaodong, YU Jingjun. Variable Stiffness Actuators: A Review of the Structural Research[J]. Journal of Mechanical Engineering, 2018, 54(13): 34-46.

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