A new variable stiffness robot joint
Author:
Tao Yong,Wang Tianmiao,Wang Yunqing,Guo Long,Xiong Hegen,Xu Dong
Abstract
Purpose
– This study aims to propose a new variable stiffness robot joint (VSR-joint) for operating safely. More and more variable stiffness actuators are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user and their ability to store and release energy in passive elastic elements.
Design/methodology/approach
– The design of VSR-joint is compact and integrated highly and the operating is simply. The mechanics, the principle of operation and the model of the VSR-joint are proposed. The principle of operation of VSR-joint is based on a lever arm mechanism with a continuously regulated pivot point. The VSR-joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks.
Findings
– Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed VSR-joint design.
Originality/value
– In this paper, a new variable stiffness joint is proposed through changing the cantilever arm to change the performance of the elastic element, which is compact, small size and simple adjustment.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
Reference27 articles.
1. Catalano, M.
,
Grioli, G.
,
Garabini, M.
,
Bonomo, F.
,
Tsagarakis, N.G.
and
Bicchi, A.
(2011), “VSA-CubeBot: a modular variable stiffness platform for multiple degrees of freedom robots”, IEEE International Conference on Robotics and Automation, IEEE, Shanghai, pp. 5090-5095. 2. Choi, J.H.
,
Hong, S.H.
,
Lee, W.
and
Kang, S.
(2011), “A robotjoint with variable stiffness using leaf springs”,
IEEE Transacitons on Robotics
, Vol. 27 No. 2, pp. 229-238. 3. Choi, J.
,
Park, S.
,
Lee, W.
and
Kang, S.-C.
(2008), “Design of a robot joint with variable stiffness”, IEEE International Conference on Robotics and Automation, IEEE, Pasadena, CA, pp. 1760-1765. 4. Friedl, W.
,
Hoppner, H.
,
Petit, F.
and
Hirzinge, G.
(2011), “Wrist and forearm rotation of the dlr hand arm system: mechanical design, shape analysis and experimental validation”, IEEE International Conference on Intelligent Robots and Systems, IEEE, San Francisco, CA, pp. 1836-1842. 5. Hongwen, M.
,
Bo, Y.
,
Liquan, W.
,
Zheng, Y.
and
Yang, S.
(2009), “Mechanics analysis of two different stiffness elastic actuator in frequency domain”,
China Mechanical Engineering
. Vol. 20 No. 9, pp. 1078-1082.
Cited by
19 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|