摘要
提出了一种新型的医疗机械臂变刚度结构,能够实现机械臂的多自由度运动及机械臂的有效锁死。通过结构控制的原理,刚度由机械结构构造而不是通过电子装置或单纯的通过材料性质来控制。根据约束空间拓扑理论(FACT),通过内部柔性铰链轴的旋转,使得结构刚度可进行连续变化而不是僵硬的离散式变化。这项工作可减轻机械臂电子控制装置的负担,允许机械臂和人之间更安全的相互作用。
This paper proposes a new type of medical arm variable stiffness structure,which can realize the multi-degree of freedom movement of the mechanical arm and the effective locking of the mechanical arm.Through the principle of structural control,stiffness is controlled by mechanical structural construction rather than by electronic means or simply by material properties.According to the Constrained Space Topology Theory(FACT),the structural stiffness can be continuously changed rather than rigidly discrete by the rotation of the internal flexible hinge axis.This work relieves the burden on the robotic electronic control unit and allows for a safer interaction between the robot arm and the person.
作者
王文雪
吴晓宇
张帆
WANG Wen-xue;WU Xiao-yu;ZHANG Fan(School of Electrical and Electronic Engineering,Shanghai University of Engineering Science,Shanghai 201600;School of Apparel,Shanghai University of Engineering Science,Shanghai 201600;Engineering Training Center,Shanghai University of Engineering Science,Shanghai 201600)
出处
《机械设计》
CSCD
北大核心
2019年第S02期20-22,共3页
Journal of Machine Design
关键词
变刚度
柔性铰链
医疗机械臂
variable stiffness
flexible hinge
medical arm
