发表机构
State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University; Department of Mechanical Engineering, Stanford University; Shanghai Key Laboratory of Intelligent Robotics; META Robotics Institute, Shanghai Jiao Tong University（上海交通大学机械系统与振动国家重点实验室; 斯坦福大学机械工程系; 上海交通大学上海市智能机器人重点实验室；META机器人研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出类乐高式平面柔顺模块刚度配置方法，通过三种模块几何与两阶段优化实现任务特定刚度，实验验证刚度偏差低于6.5%，并开发柔性手腕展示高速柔顺交互。
AI 中文摘要
柔顺机构为调节机构与环境之间的物理交互提供了紧凑且固有的结构柔顺性。然而，不同的任务需要不同的刚度特性，由于几何设计空间有限以及多个刚度分量之间的固有耦合，通常需要进行任务特定的优化和重新设计。本文提出了一种使用可堆叠平面柔顺模块的类乐高式刚度配置方法。引入了三种互补的模块几何形状，其刚度特性通过梁宽度、板厚度和模块方向进一步调节。建立了一个统一的刚度模型，用于对单个模块和组合模块进行定量分析。此外，提出了一种两阶段优化方法以实现期望的刚度曲线，该方法结合了用于配置的遗传算法和用于参数细化的序列二次规划。实验验证显示，模拟刚度的偏差低于6.5%。进一步开发了一个柔性手腕作为代表性实现，在不同刚度特性下表现出不同的柔顺和动态响应。一种优化的模块组合实现了规定的刚度值，并在1 m/s的高速运动期间保持柔顺的障碍物交互，最大测试角柔顺度约为15度。所提出的框架为构建具有任务特定刚度特性的柔性接口提供了一种系统方法。
英文摘要
Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand distinct stiffness characteristics, often requiring task-specific optimization and redesign due to limited geometric design space and inherent coupling among multiple stiffness components. This paper presents a Lego-like stiffness configuration approach using stackable planar compliant modules. Three complementary module geometries are introduced, with their stiffness characteristics further regulated through beam width, plate thickness, and module orientation. A unified stiffness model is established for quantitative analysis of individual and composed modules. Further, a two-stage optimization method is presented to achieve desired stiffness profiles, combining a genetic algorithm for configuration and sequential quadratic programming for parameter refinement. Experimental verification shows deviations below 6.5% for simulated stiffness. A flexible wrist is further developed as a representative implementation, exhibiting distinct compliant and dynamic responses under different stiffness characteristics. An optimized modular composition realizes prescribed stiffness values and maintains compliant obstacle interaction during high-speed motion at 1 m/s, with a maximum tested angular compliance of approximately $15^\circ$. The proposed framework provides a systematic approach for constructing flexible interfaces with task-specific stiffness characteristics.
Comments8 pages, 8 figures
