Stiffness Analysis of a Variable Stiffness Joint Using a Leaf Spring

被引：6

作者：

Fang, Lijin ^{[1
]}

Wang, Yan ^{[1
]}

机构：

[1] Northeastern Univ, Shenyang 110819, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II | 2017年 / 10463卷

基金：

中国国家自然科学基金;

关键词：

Variable stiffness joint; Stiffness analysis; Large deflection; LARGE DEFLECTION;

D O I：

10.1007/978-3-319-65292-4_20

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A variable stiffness joint using a leaf spring is designed to ensure physical safety. The joint stiffness is often controlled by changing the effective length of the leaf spring. The stiffness model based on the small-deformation theory cannot solve large deflection problems of the leaf spring caused by larger joint deflected angles. The elliptic integral solution is considered to be the most accurate method for analyzing large deflections of beams. In this paper, a stiffness analysis model based on the elliptic integral solution is proposed. The joint stiffness property is analyzed. The simulation results show the joint stiffness is nonmonotonic and strong nonlinear. A stiffness simplified model is presented by nonlinear curve fitting for application simplicity. The experiment is carried out to verify the stiffness property and the stiffness analysis model.

引用

页码：225 / 237

页数：13

共 10 条

[1] Closed-form solution of large deflection of a spring-hinged beam subjected to non-conservative force and tip end moment [J].