基于功率耦合结构的传动比式可重构可调刚度致动器设计研究

腿式机器人在步行、奔跑、跳跃等不同动态任务阶段，对致动器的峰值输出力矩、输出功率、刚度调节速度、刚度调节范围、刚度调节精度及能量效率等性能要求不尽一致，性能指标之间差异性大且有时冲突，这是制约腿式机器人发展的关键因素。本申请拟重点研究可调刚度致动器刚度调节机构重构拓扑设计方法、致动器传动机构功率高耦合率设计方法、致动器输出力矩非线性自适应耦合控制策略及低能耗控制策略，在可调刚度致动器性能兼容性设计方法、功率高耦合传动机构设计思路、时变刚度功率调节机理等方面取得创新，研究成果有利于增强可调刚度致动器多模态任务适用性，解决限制致动器功率提升的瓶颈问题，消除刚度调节反力矩、摩擦力、阻尼力等非线性因素对致动器动力学控制模型的不利影响，提高腿式机器人动态动作精度，为推动高动态性能腿式机器人的发展提供理论支撑。

The legged robots have different performance requirements on the peak output torque, output power, stiffness adjustment speed, stiffness adjustment range, stiffness adjustment accuracy, and energy efficiency of the actuator under the conditions of walking, running or jumping dynamic tasks. The differences between the indicators are large or even conflict with each other, which is a key factor restricting the development of legged robots. This application intends to focus on the design method of on-line reconfiguration topologies of adjustable stiffness actuators, compact design methods of power coupling structures, adaptive torque coupling control strategies for output torque, and time-varying stiffness power modulation mechanisms to strive for the performance of adjustable stiffness actuators. There are innovations in compatibility design methods, high power density actuator design methods, non-linear adaptive control strategies, and controllability of power modulation output. The research results are conducive to enhancing the applicability of multi-modal tasks for adjustable stiffness actuators. Solve the bottleneck problem that restricts the power increase of the actuator, eliminate the adverse effects of non-linear factors such as stiffness adjustment reaction torque, friction, damping force on the dynamic control model of the actuator, improve the accuracy of the dynamic motion of the legged robot, The development of dynamic performance leg robots has very positive significance.