Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism

被引:20
作者
Ning, Yinghao [1 ]
Huang, Hailin [1 ]
Xu, Wenfu [1 ,2 ]
Zhang, Weimin [3 ]
Li, Bing [1 ,2 ,4 ]
机构
[1] Harbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
[2] State Key Lab Robot & Syst HIT, Harbin 150001, Peoples R China
[3] Beijing Inst Technol, Beijing 100081, Peoples R China
[4] Peng Cheng Lab, Shenzhen 518055, Peoples R China
来源
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2021年 / 13卷 / 02期
关键词
variable stiffness actuator; cam-based relocation mechanism; point-to-point control; oscillation attenuation; torque controllability; actuators and transmissions; ROBOT; PROTOTYPE; JOINT;
D O I
10.1115/1.4049150
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Variable stiffness actuators (VSAs) are widely explored as they could improve the safe performance for human-robot interaction and make the system torque controllable based on the internal compliance. This article presents a novel VSA based on the cam-based relocation mechanism (CRM-VSA), which is utilized to change the locations of pivot and spring of a lever mechanism simultaneously. Consequently, such structure makes the actuator compacted and the stiffness regulation designable, which could help engineers to pursue different demands of stiffness regulation. The simultaneous relocations of the pivot and spring also permit a wide range of adjustable stiffness. By introducing linear guide pairs, the internal friction of the relocations of pivot and spring could be greatly reduced, thus enhancing the energy efficiency. To evaluate the performance of the proposed CRM-VSA, the point-to-point control strategy is developed, which contributes to a higher tracking accuracy and oscillation attenuation at both the start and end points of the trajectory. In addition, the performance of torque controllability is also verified through experiments. These excellent capabilities enable the proposed CRM-VSA to be qualified for constructing a robotic arm toward service applications.
引用
收藏
页数:10
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