提出一种轻量可变刚度机械腕，四电机实现三自由度柔性控制。
Preliminary Analysis and Simulation of a Compact Variable Stiffness Wrist
- 通过冗余弹性驱动与并联结构，仅用四电机实现可调刚度。
- 仿真验证定位精度高、抗干扰强，刚性时刚度可达250 N·m/rad。
- 适合假肢与人形机器人，兼顾安全交互与任务适应性。
可变刚度执行器在非结构化环境的机器人应用中至关重要，能实现安全交互并提升任务适应性。然而其机械设计常导致体积大、重量重，相较传统刚性执行器。本文提出一种新型三自由度并联腕部机构，通过冗余弹性驱动实现可变刚度。凭借并联架构，该装置仅需四个电机，具备紧凑轻量化优势，特别适用于假肢或人形机器人。论文深入分析了装置的理论模型，并提出一种先进控制策略，实现关节位置与刚度的独立调节。通过系统动力学的综合分析，仿真验证了控制器的有效性。结果表明，该装置在刚性配置下具备高精度与强抗扰能力，同时在柔性行为下显著降低交互力，表现出优异性能。
原文摘要 · Abstract (English)
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and heavier structures compared to classical rigid actuators. This paper introduces a novel 3 Degrees of Freedom (DoFs) parallel wrist that achieves variable stiffness through redundant elastic actuation. Leveraging its parallel architecture, the device employs only four motors, rendering it compact and lightweight. This characteristic makes it particularly well-suited for applications in prosthetics or humanoid robotics. The manuscript delves into the theoretical model of the device and proposes a sophisticated control strategy for independent regulation of joint position and stiffness. Furthermore, it validates the proposed controller through simulation, utilizing a comprehensive analysis of the system dynamics. The reported results affirm the ability of the device to achieve high accuracy and disturbance rejection in rigid configurations while minimizing interaction forces with its compliant behavior.
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