Design of an adjustable-stiffness spring: Mathematical modeling and simulation, fabrication and experimental validation

被引：37
作者：
Gonzalez Rodriguez, A. [2 ]
Chacon, J. M. [3 ]
Donoso, A. [1 ]
Gonzalez Rodriguez, A. G. [4 ]
机构：
[1] Univ Castilla La Mancha, Dept Math, ETSII, E-13071 Ciudad Real, Spain
[2] Univ Castilla La Mancha, Dept Appl Mech, ETSII, E-13071 Ciudad Real, Spain
[3] Univ Castilla La Mancha, Inst Appl Math Sci & Engn IMACI, ETSII, E-13071 Ciudad Real, Spain
[4] Univ Jaen, Dept Elect Engn & Automat, ETSII, Jaen 23071, Spain
来源：
MECHANISM AND MACHINE THEORY | 2011年 / 46卷 / 12期
关键词：
Compliant-actuators; Adjustable-stiffness; Large displacements; Leaf spring;
D O I：
10.1016/j.mechmachtheory.2011.07.002
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
An adjustable-stiffness actuator composed of two antagonistic non-linear springs is proposed in this paper. The elastic device consists of two pairs of leaf springs working in bending conditions under large displacements. Owing to this geometric non-linearity, the global stiffness of the actuator can be adjusted by modifying the shape of the leaf springs. A mathematical model has been developed in order to predict the mechanical behavior of our proposal. The non-linear differential equation derived from the model is solved, obtaining large stiffness variations. A prototype of the actuator was fabricated and tested for different load cases. Experimental results were compared with numerical simulations for model verification, showing excellent agreement for a wide range of work. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1970 / 1979
页数：10
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