弹性单元圆周阵列布置的被动顺应装置机构设计及应用

Mechanism Design of RCC With Elastic Element in Circumference Array

采用弹性单元圆周阵列布置形式,设计了一种可以调节弹性吊杆分布角度而实现刚度性能变化的VRCC机构装置:顶部为凸轮顶杆机构和四杆展开机构,侧面为四个弹性吊杆单元。首先,设计了凸轮顶杆机构的凸轮型线,使凸轮角度随滑块位置线性变化,从而改变弹性吊杆的分布角度;其次,设计了四杆展开机构的杆件结构尺寸;接着,对VRCC机构进行了静态受力分析;最后,机构应用于孔轴类装配过程中,分析了装配干涉问题和主动力控策略,为装配装备整体研制提供了参考。

With elastic elements arrayed in circumference, a VRCC mechanism is designed with variable stiffness performance through the angel change of elastic suspenders. On the top is a CAM mechanism and around is a four-bar deployable mechanism consists of four elastic suspenders. Firstly, the CAM profile is designed so that the angle of CAM changes linearly with the distance of sliding block, thus changing the distributed angles of elastic units. Secondly, the suspender structure and size of deployable mechanism are designed based on the space range requirement. Then static analysis is conducted on the VRCC mechanism. At last, the mechanism is applied to a peg-in -hole assembly process. The assembly interfere problem is analyzed and an active force control strategy is designed, which can provide direction for the prototype system development.