刚度
变量(数学)
夹持器
航程(航空)
理论(学习稳定性)
控制理论(社会学)
结构工程
计算机科学
工程类
材料科学
机械工程
控制(管理)
人工智能
数学
复合材料
数学分析
机器学习
作者
Clayton S.-C. Yang,Weitao Wu,Xingkun Wu,Jifei Zhou,Zhangpeng Tu,Mingwei Lin,Sheng Zhang
出处
期刊:Industrial Robot-an International Journal
[Emerald (MCB UP)]
日期:2022-05-13
卷期号:49 (6): 1190-1201
被引量:4
标识
DOI:10.1108/ir-12-2021-0286
摘要
Purpose Variable stiffness structure can significantly improve the interactive capabilities of grippers. Shape memory alloys have become a popular option for materials with variable stiffness structures. However, its variable stiffness range is limited by its stiffness in two phases. The purpose of this paper is to enhance the manipulation capabilities of tendon-driven flexible grippers by designing a wide-range variable stiffness structure. Design/methodology/approach Constitutive models of shape memory alloy and mechanical models are used to analyze the performance of the variable stiffness structure. A separated solution was used to combine the tendon-driven gripper and the variable stiffness structure. The feed-forward control algorithm is used to enhance the control stability of the variable stiffness structure. Findings The stiffness variable capability of the proposed variable stiffness structure is verified by experiments. The stability of the feedback control algorithm was verified by sinusoidal tracking experiments. The variable stiffness range of 8.41 times of the flexible gripper was tested experimentally. The interaction capability of the variable stiffness flexible gripper is verified by the object grasping experiments. Originality/value A new wide-range variable stiffness structure is proposed and validated. The new variable stiffness structure has a larger range of stiffness variation and better control stability. The new flexible structure can be applied to conventional grippers to help them gain stiffness variable capability and improve their interaction ability.
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