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刚度和等效质量对SEA能量放大特性的影响
  • 摘要

    对简单的SEA (series elastic actuator)模型采用解析法求解,得出了驱动器输出能量曲线,分析了其能量放大特性,解决了Paluska的SEA能量分析的无解析解问题.并针对Paluska分析中对动力学模型的过度简化,引入了传动机构的等效质量的概念,完善了SEA的能量放大作用模型.为了便于求解和分析,对SEA能量放大模型各参数进行归一化处理,并在归一化条件下通过频域转换方式进行数值求解,得出该条件下的驱动器输出能量曲线,从而得到了该模型下的SEA能量放大特性及其随系统参数(弹簧刚度、传动机构等效质量)的变化规律.

  • 作者

    马洪文  赵朋  王立权  俞林  MA Hongwen  ZHAO Peng  WANG Liquan  YU Lin 

  • 作者单位

    哈尔滨工程大学机电工程学院,黑龙江哈尔滨,150001

  • 刊期

    2012年3期 ISTIC EI PKU

  • 关键词

    机器人  串联弹性驱动器(SEA)  能量放大特性  传动机构等效质量 

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