刚度和等效质量对SEA能量放大特性的影响

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.

Effect of Stiffness and Equivalent Mass on Energy Amplification Characteristics of SEA

The actuator output energy chart is plotted by analytic solution for a simple SEA(with a elastic component) model,and the energy amplification characteristics of the simple SEA model are analyzed,therefor,the issue of no analytic solution in Paluska’s SEA energy analysis is solved.In addition,for the over-simplification of the dynamics model in Paluska’s analysis,the equivalent mass of transmission mechanism is introduced to improve the energy amplification model of SEA.The parameters of the SEA energy amplification model are normalized to simplify the solution and analysis.Furthermore the numerical solution is calculated under the normalized condition using frequency domain transformation,and the output energy chart of the actuator is plotted.Thereby the SEA energy amplification characteristics of the proposed model are obtained,and its variations with the system parameters(stiffness of the spring,equivalent mass of the transmission mechanism) are obtained.