【摘要】 刚度调控策略作为实现多级变胞机构的关节柔顺性,提高多级变胞机构的集成度,实现多级变胞机构紧凑化的重要方法,对其进行深入研究有着十分重要的意义.针对多级变胞机构刚度调控复杂的问题,本文通过对弹簧长度、最佳弹簧刚度以及最佳弹簧安装位置的确定,提出了针对多级变胞机构的刚度调控策略.实验结果表明,在一定范围内,最佳弹簧刚度随着安装位置l₃的增大而减小,当最佳弹簧刚度达到最小值后,最佳弹簧刚度随着安装位置l₃的增大而增大,两者之间为非线性关系.更多还原

【Abstract】 The stiffness control strategy is an important method for the multi-stage metamorphic mechanism to realize the joint compliance, improve the integration and realize the compactness of mechanism. It is of great significance to conduct in-depth research on this subject. Aiming at the complex stiffness-control of multi-stage metamorphic mechanism, the stiffness regulation strategy for this kind of mechanism was proposed by determining the spring length, the optimal spring stiffness and the optimal spring installation site. The experimental results show that the optimal spring stiffness decreases with the increase of installation site l₃ within certain range. When the optimal spring stiffness reaches the minimum value, the optimal spring stiffness increases with the increase of installation site l₃, and there is a nonlinear relationship between them.更多还原