新型多模式弹性驱动器的弹跳性能研究

doi:10.3901/JME.2016.09.096

机械工程学报 ›› 2016, Vol. 52 ›› Issue (9): 96-104.doi: 10.3901/JME.2016.09.096

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新型多模式弹性驱动器的弹跳性能研究

韩亚丽^{1, 2}, 郝大彬², 于建铭², 祁兵², 宋爱国¹, 朱松青²

1. 东南大学仪器科学与技术学院南京 210096;
2. 南京工程学院机械学院南京 211167

出版日期:2016-05-05 发布日期:2016-05-05
基金资助:
国家自然科学基金青年基金(51205182)、校级创新基金重大项目(CKJA201501)和先进数控技术江苏省“青蓝工程”科技创新团队(201239)资助项目

Bounce Performance Study on Novel Multi-mode Elastic Actuator

HAN Yali, HAO Dabin, YU Jianming, QI Bing, SONG Aiguo, ZHU Songqing

1. School of Instrument Science & Engineering, Southeast University, Nanjing 210096;
2. School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167

Online:2016-05-05 Published:2016-05-05

摘要/Abstract

摘要： 基于人体肌肉的仿生驱动机制,提出一种多模式弹性驱动器,采用电动机带动丝杆螺母串联弹簧,结合相应的刹车离合装置,实现驱动器不同模式的运动,并对其运动模式进行分析;建立弹性强驱动器的动力学方程,进行简谐激励下的弹跳运动研究,并进行不同负载、不同弹性系数下的弹跳运动仿真分析;进行弹性驱动器的运动性能试验研究,分别对弹性驱动器的刹车力、连续弹跳及单次跳跃进行试验,结果表明,弹性驱动器能实现有效刹车,在简谐激励下能实现良好的连续弹跳,在输入的双曲正切信号控制下,能实现良好的单次弹跳;多模式弹性驱动器研究对对深入理解仿生驱动器的运动机理提供了重要的理论基础。

关键词: 弹性驱动器, 仿生驱动, 连续弹跳, 运动模式

Abstract: A novel multi-mode elastic actuator is proposed based on the driving mechanism of human muscle. The actuator can achieve different motions through the motor driving the screw nut, series with spring and combing with the corresponding brake pads, and the motion mode is analyzed. The kinematics equations of elastic actuator are established, the bounce movement is studied driving by harmonic excitation, and the simulations of bounce movement under different mass load and stiffness conditions are implemented. The motion characteristics of elastic actuator are experimented, and the experiment of braking force, continuous hopping and single hopping are implemented. The results of experiments show that the elastic actuator can realize effective braking force, favorable continuous hopping, and favorable single hopping driving by hyperbolic tangent signal. The study of multi-mode elastic actuator provides important theoretical basis for the understanding of motion mechanism of bionic actuator.

Key words: bionic driving, continuous hopping, elastic actuator, motion mode

中图分类号:

TP391

韩亚丽, 郝大彬, 于建铭, 祁兵, 宋爱国, 朱松青. 新型多模式弹性驱动器的弹跳性能研究[J]. 机械工程学报, 2016, 52(9): 96-104.

HAN Yali^{1, 2}, HAO Dabin², YU Jianming², QI Bing², SONG Aiguo¹, ZHU Songqing². Bounce Performance Study on Novel Multi-mode Elastic Actuator[J]. Journal of Mechanical Engineering, 2016, 52(9): 96-104.

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新型多模式弹性驱动器的弹跳性能研究

Bounce Performance Study on Novel Multi-mode Elastic Actuator

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