连续型折纸机械臂的刚度调节分析

Stiffness Adjustment Analysis of Continuous Origami Manipulators

针对变形三浦折纸机构设计的连续型机械臂的刚度调节问题,探讨了几何参数对折纸机械臂刚度的影响。首先,基于杆铰模型法,保持3组折纸机械臂模型的锥角、长度一致,对机械臂施加压力,利用Matlab仿真程序分析了机械臂在伸展和收缩状态下的弯曲刚度,计算出相应的弯曲刚度比。结果表明,当机械臂端面多边形的边数从5增加到7时,弯曲刚度比随着多边形边数的增加而增加,可实现折纸机械臂在伸展状态下具有刚性、在收缩状态下具有柔性。其次,利用虚功原理对折纸机械臂的力-位移关系进行建模,明确了锥角与机械臂负载受力的关系。最后,分析了3组锥角不同的折纸机械臂。结果表明,随着初始锥角的增加,抵抗外力的性能并不是一直增强,即锥角的变化会对机械臂的负载性能产生影响。

Aiming at the stiffness adjustment of the continuous manipulator designed by the deformed Miura origami mechanism,the influence of geometric parameters on the stiffness of the origami robot arm is discussed.Firstly,based on the bar-and-hinge model method,the taper angle and length of the three sets of origami robot models are maintained,pressure is applied to the robot arm,the bending stiffness of the manipulator in the state of extension and contraction is analyzed by the Matlab simulation program,and the corresponding bending stiffness ratio is calculated.The results show that when the number of edges of the polygon on the end face of the manipulator is increased from 5 to 7,the bending stiffness ratio increases with the increase of the number of polygon edges,so that the origami manipulator is rigid and flexible in the state of extension.Secondly,the force-displacement relationship of the origami manipulator is further modeled using the principle of virtual work,the relationship between the cone angle and the load force of the manipulator is clarified,and the three groups of origami manipulators with different cone angles are also analyzed.Finally,a conclusion is drawn that with the increase of the cone angle,the resistance to external forces is not always increasing.That is,the change of the cone angle has an impact on the load performance of the manipulator.