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提出一种以变截面片弹簧为骨架的气动柔顺关节,可构成柔性自适应机械手。片弹簧的变形等效于自由端受特殊变载荷(方向和大小都随气缸内压力而变化)作用的弹性悬臂梁的大扰度变形。文中采用非线性变系数并带有未知参数的微分方程组建立静态模型,借助ode45和fmincon函数得到不同压力下片弹簧任意位置的转角位移、坐标位移的数值解,变载荷明确后利用ANSYS建模仿真验证模型与数值解法的正确性,最后与等截面片弹簧骨架关节进行对比,说明变截面片弹簧骨架关节具有柔性好、节省能源的优点。
A kind of pneumatic compliant joint with variable section leaf spring is proposed, which can form a flexible adaptive manipulator. The deformation of the leaf spring is equivalent to the large disturbance distortion of the elastic cantilever whose free end is affected by the special variable load (both the direction and the size vary with the pressure in the cylinder). In this paper, the static model is established by using the differential equations with nonlinear variable coefficients and unknown parameters. The numerical solutions of the angular displacements and the coordinate displacements at arbitrary positions of the leaf spring under different pressures are obtained by means of the functions ode45 and fmincon. After changing the load, the model is modeled by ANSYS Simulation verification model and the correctness of the numerical solution, and finally compared with the equivalent cross-section leaf spring skeleton joint, indicating that the variable section leaf spring skeleton joint has the advantages of good flexibility and energy saving.