宋智斌¹, 赵亚茹¹, 高冬¹, 戴建生^1,2
AuthorsHTML:宋智斌¹, 赵亚茹¹, 高冬¹, 戴建生^1,2
AuthorsListE:Song Zhibin¹, Zhao Yaru¹, Gao Dong¹, Dai J S^1,2
AuthorsHTMLE:Song Zhibin¹, Zhao Yaru¹, Gao Dong¹, Dai J S^1,2
Unit:1. 天津大学机械工程学院机构理论和装备设计教育部重点实验室，天津 300072；2. 伦敦大学国王学院，伦敦 WC2R 2LS
Unit_EngLish:1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
2. King’s College London, University of London, London WC2R 2LS, United Kingdom
Abstract_Chinese:恒定刚度的串联弹性驱动器(SEA)的控制性能受刚度的限制, 存在着系统安全性与带宽之间的矛盾．可变刚度驱动器(VSA)在一定程度上解决了高安全性与高控制带宽之间的矛盾, 但其采用的刚度调节电机增加了结构的复杂性．基于“小负载, 低刚度; 大负载, 高刚度”的人机交互策略的负载选择的非线性刚度驱动器(LDNSA)是一种新的具有良好应用前景的驱动方案．通过Simulink仿真和试验探讨了LDNSA在不同的刚度区间(不同的负载条件)的力矩控制性能, 并与不同刚度的SEA的控制性能进行了比较分析．结果表明：与SEA相比, 虽然LDNSA的力矩响应平稳性比低刚度的和高刚度SEA差, 但LDNSA在负载较小时具有高安全性的同时依然能保证高的控制带宽, 而负载较大时, LDNSA的控制带宽更高且力矩响应平稳性能增强．
Abstract_English:The control performance of series elastic actuator(SEA)with constant stiffness is limited by stiffness leading to the contradiction between safety and bandwidth. Variable stiffness actuator(VSA)solves the contradiction between high safety and high control bandwidth in some degree，but the motor is employed to adjust stiffness complexes its structure. Considering the disadvantages of SEA and VSA，a load-dependent nonlinear stiffness actuator(LDNSA)was introduced to apply in the human robot interaction(HRI)based on the HRI strategy of“Small load，low stiffness; large load，high stiffness”. The torque control performance of LDNSA under different stiffness ranges/different loads was discussed through simulation and experiment and was compared with that of SEAs with different stiffnesses. It was obtained afterword that: Compared with SEA，although the stability of torque response of LDNSA is worse than SEAs with low stiffness and high stiffness，LDNSA achieves high control bandwidth along with high safety under small load，while LDNSA has higher bandwidth and better torque response stability under large load.
Keyword_Chinese:非线性刚度; 柔顺驱动器; 控制性能; 仿真; 试验
Keywords_English:nonlinear stiffness; compliant actuators; control performance; simulation; experiment

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