引用本文: 牛福亮, 高海波, 刘振, 丁亮, 李楠, 邓宗全. 一种串联张紧式恒力矩机构设计及实验研究[J]. 机器人, 2016, 38(4): 475-485.
NIU Fuliang, GAO Haibo, LIU Zhen, DING Liang, LI Nan, DENG Zongquan. Design and Experimental Research of a Tandem Tensioning Constant-Torque Mechanism[J]. ROBOT, 2016, 38(4): 475-485.
 Citation: NIU Fuliang, GAO Haibo, LIU Zhen, DING Liang, LI Nan, DENG Zongquan. Design and Experimental Research of a Tandem Tensioning Constant-Torque Mechanism[J]. ROBOT, 2016, 38(4): 475-485.

## Design and Experimental Research of a Tandem Tensioning Constant-Torque Mechanism

• 摘要: 设计了一种串联张紧式恒力矩机构．恒力矩机构的作用是吸收电机在高频冲击下的响应滞后，被动保持吊索恒定张力．旁路张紧式恒力机构存在吊索在滑轮处压迫变形导致的摩擦问题．要避免这种摩擦带来的能量损耗，选择使用不含滑轮的串联张紧式恒力矩机构．从做功－储能观点，恒力矩机构是具有恒定的储能－转角比例的储能机构．基于此观点，提出压簧－凸轮－扭杆和压簧－扭杆两种恒力矩机构方案，分别对其进行原理分析和理论验证．综合比较后选择摩擦和转动惯量更小的压簧－扭杆式方案进行机构设计、仿真验证和实验验证．此机构形式简单，占用空间尺寸为1000mm×350mm×350mm，实验证明，此机构等效刚度为1.47N/mm，静态工作点调节范围为0～1000N，正反向误差为±15N．

Abstract: A tandem tensioning constant-torque mechanism is designed. A constant-torque system is used to absorb the response lag of motor under the high-frequency impact and keep the constant tension of the string passively. In the bypass tensioning constant-force mechanism, the friction problem exists because of sling's compression deformation on the pulley. To avoid this kind of energy loss caused by friction, the tandem tensioning constant-torque mechanism without pulley is selected. From the view of working-energy storage, the constant-torque mechanism is an energy storing mechanism with constant proportion of energy storage-angle. Based on this viewpoint, both pressure spring-cam-torsion bar and pressure spring-torsion bar constant-torque mechanisms are proposed. Then the principle analysis and theoretical validation are performed respectively. The mechanism design, simulation and experimental validation are conducted on the pressure spring-torsion bar constant-torque mechanism with smaller friction and moment of inertia after the comprehensive comparison. This simple mechanism takes up the spatial size of 1000 mm × 350 mm × 350 mm. The experiments prove that the mechanism's equivalent stiffness is 1.47 N/mm, adjusting range of the static working point is 0～ 1000 N, and the positive and negative error is ± 15 N.

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