Design of Foldable Flexible Arm with Variable Stiffness Based on Particle Blocking Principle
Aiming at the problems of constant and insufficient stiffness in origami structure,based on origami structure and particle blocking principle,a foldable flexible manipulator with variable stiffness with light weight,low inertia,wide stiffness adjustment range,large space folding ratio and low production cost was proposed.Firstly,the three-dimensional structure scheme of the folded flexible arm,which consisted of multiple folded flexible elements in series,was designed.The stiffness adjustment method of the folded flexible arm based on the principle of particle blocking was proposed,and the variable stiffness system design of the flexible arm was completed.A folding flexible arm drive scheme with motor drive and rope drive was proposed to realize the pose transformation of the flexible arm.Finally,the prototype,bending deformation experiment and stiffness test of the flexible arm were completed.The experimental results of the prototype show that the bending experimental results of the designed variable stiffness flexible arm with particle blocking are consistent with the theoretical calculation results of the kinematic model and the stiffness model,which verifies the feasibility of the design scheme of the flexible arm with variable stiffness.
万方数据
维普
