Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy
Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy
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基于双向释放储存动能的赝惯性可调机构的初步设计
DOI：
10.1109/aim.2018.8452679
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
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作者：
Peizhi Zhang;Mitsuhiro Kamezaki;K. Otsuki;Shan He;Gonzalo Aguirre Dominguez;S. Sugano
本文提出了一种能显著调节惯性的机构。该机构包含一个飞轮、一组离合器、一个方向转换器和一个磁流变液压旋转执行器。根据物理定义，惯性是物体在运动状态变化时所受到的阻力，它总是与物体的质量有关。惯性也被称为物体的固有属性。传统上，在机械系统的阻抗因素中，惯性似乎是不变的，不像阻尼因子或弹性。然而，改变惯性可能会给机械网络带来不同的行为。在本研究中，不改变物体的质量，而是通过控制从马达泵收集的飞轮能量释放到物体，可以调节致动器运动的阻力。我们称之为伪惯性可调机制（pIAM）。离合器用于控制飞轮的离合、能量释放的方向和大小。本文介绍了该机构的设计、数学模型和实验结果。结果表明，在飞轮转速为1000 rpm时，该机构能够释放出最大扭矩约7 Nm，最大转速约800 °/s，验证了该机构的可行性。
In this paper, a mechanism which can adjust inertia significantly is presented. Such mechanism contains a flywheel, a group of clutches, a direction converter, and a magnetorheological hydraulic rotary actuator. According to the physical definition, inertia is the resistance of object changing in its state of motion, which always connects to the mass of the object. Inertia is also known as an inherent property of an object. Conventionally, among impedance factors of the mechanical system, inertia seems to be unchangeable, not like damping factor or elasticity. However, changing inertia might bring different behavior to mechanical networks. In this study, instead of changing the mass of the object, by controlling the flywheel energy collected from the motor pump to release to the object, the resistance of actuator motion can be adjusted. We call this the pseudo-inertia adjustable mechanism (pIAM). The clutches are used for controlling the engaging and disengaging of the flywheel, energy releasing direction and magnitude. The mechanism design, mathematical model, and experimental results are included in this paper. According to the results, the machine is able to release the maximum torque about 7 Nm and the maximum speed about 800 degrees/s with 1000 rpm of the flywheel speed, which reveals the feasibility of this mechanism.
采用非线性弹簧单元和电磁离合器打开机构的强大而灵活的肌肉骨骼臂的设计
DOI：
--
发表时间：
2011
期刊：
影响因子：
--
作者：
Y.Nakanishi;N.Ito;T.Shirai;M.Osada;T.Izawa;J.Urata;K.Okada;M.Inaba
通讯作者：
M.Inaba