弹性自驱动卷筒式伸杆机构展开刚度分析及校验

针对弹性自驱动卷筒式伸杆机构(STACER) 的展开刚度问题，分析了卷筒式伸杆机构的工作原理，基于等效连续体模型推导了卷筒式伸杆机构弹性卷筒的构型参数与刚度的关系式，分析了弹性卷筒末端螺旋角、末端半径、带厚、带宽对展开刚度的影响。分析结果表明：(1)末端半径的增大能同时提高弹性卷筒的一阶频率和比刚度，而带宽的增大将导致弹性卷筒的一阶频率和比刚度均降低;(2)弹性卷筒的一阶频率随带厚的增加近似线性增大，但比刚度随带厚的增大而近似按双曲线规律下;(3)弹性卷筒末端螺旋角在62°~75°时，弹性卷筒的比刚度可获得最优值。卷筒式伸杆机构的刚度测试结果与理论分析结果基本一致，校验了理论分析方法的有效性。

Analysis and Verification of Deployed Stiffness of Spiral Tube andActuator for Controlled Extension and Retraction

The working principle of spiral tube and actuator for controlled extension and retraction (STACER) is illustrated. Based on the equivalent continuum model, the relationship between the configuration parameters and the bend stiffness of STACER is deduced. The results show that: (1) The increase of the tip radius improves the bend stiffness and specific stiffness at the same time, while the increase of the width leads to the decrease of the bend stiffness and specific stiffness. (2) The bend stiffness increases linearly with the increase of the belt thickness, but the specific stiffness decreases approximately according to the hyperbolic law. (3) When the tip spiral angle is in the range of 62°~75°, the optimal value of the specific stiffness can be obtained. The mode test results verify the validity of the analysis method.