Design and Implementation of a Novel Variable Stiffness Actuator With Cam-Based Relocation Mechanism
被引:20
作者:
Ning, Yinghao
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机构:
Harbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R ChinaHarbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
Ning, Yinghao
[1
]
Huang, Hailin
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机构:
Harbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R ChinaHarbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
Huang, Hailin
[1
]
Xu, Wenfu
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h-index: 0
机构:
Harbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
State Key Lab Robot & Syst HIT, Harbin 150001, Peoples R ChinaHarbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
Xu, Wenfu
[1
,2
]
Zhang, Weimin
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机构:
Beijing Inst Technol, Beijing 100081, Peoples R ChinaHarbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
Zhang, Weimin
[3
]
Li, Bing
论文数: 0引用数: 0
h-index: 0
机构:
Harbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
State Key Lab Robot & Syst HIT, Harbin 150001, Peoples R China
Peng Cheng Lab, Shenzhen 518055, Peoples R ChinaHarbin Inst Technol, HIT Campus Univ Town, Shenzhen 518055, Peoples R China
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
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.
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[1]
Allemand Yves, 2009, 2009 IEEE International Conference on Rehabilitation Robotics: Reaching Users & the Community (ICORR), P550, DOI 10.1109/ICORR.2009.5209585
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Choi, Junho
;
Hong, Seonghun
论文数: 0引用数: 0
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Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Hanyang Univ, Seoul 133791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Hong, Seonghun
;
Lee, Woosub
论文数: 0引用数: 0
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机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Lee, Woosub
;
Kang, Sungchul
论文数: 0引用数: 0
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Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Kang, Sungchul
;
Kim, Munsang
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h-index: 0
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Allemand Yves, 2009, 2009 IEEE International Conference on Rehabilitation Robotics: Reaching Users & the Community (ICORR), P550, DOI 10.1109/ICORR.2009.5209585
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Choi, Junho
;
Hong, Seonghun
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Hanyang Univ, Seoul 133791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Hong, Seonghun
;
Lee, Woosub
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Lee, Woosub
;
Kang, Sungchul
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea
Kang, Sungchul
;
Kim, Munsang
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South KoreaKorea Inst Sci & Technol, Ctr Cognit Robot Res, Seoul 136791, South Korea