SIA OpenIR  > 空间自动化技术研究室
Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle
Liu YW(刘玉旺)1; Liu XG(刘霞刚)1,2; Yuan ZQ(袁忠秋)1; Liu JG(刘金国)1
Department空间自动化技术研究室
Source PublicationMechanism and Machine Theory
ISSN0094-114X
2019
Volume140Pages:44-58
Indexed BySCI ; EI
EI Accession number20192206981080
WOS IDWOS:000478967700004
Contribution Rank1
Funding OrganizationNational Key R&D Program of China ; National Natural Science Foundation of China ; LiaoNing Revitalization Talents Program
KeywordHuman-machine collaboration Variable stiffness joint Antagonistic principle Elastic component Parallel arrangement
AbstractHuman-machine collaboration is an inevitable development trend of robots, and the variable stiffness joints of robots has been increasingly investigated by researchers. The variable stiffness joint based on the antagonism principle has received extensive attention, where its variable stiffness actuator mainly including nonlinear elastic components and antagonistic force pairs are the research hotspots. In this paper, a spring parallel variable stiffness actuator (SPVSA) based on a novel variable stiffness principle is proposed, in which the linear spring is arranged in parallel with the antagonistic force, so that the elastic components are no longer involved in the antagonism. The variable stiffness actuator effectively eliminates the antagonistic effect of the elastic components and improves the shock absorption and energy storage capacity. And based on the passive and active stiffness adjustment modes, the variable stiffness speed can be effectively improved. Meanwhile, the use of extremely ultralight springs and wire ropes simplifies the structure of the actuator and reduces the quality and size of the joints. In this paper the model design, related theoretical analysis and simulation analysis of SPVSA are carried out. And the effectiveness and advancement of SPVSA are verified by experiments.
Language英语
WOS SubjectEngineering, Mechanical
WOS KeywordIMPEDANCE
WOS Research AreaEngineering
Funding ProjectNational Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51605474] ; National Natural Science Foundation of China[61821005] ; LiaoNing Revitalization Talents Program[XLYC1807090] ; National Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51605474] ; National Natural Science Foundation of China[61821005] ; LiaoNing Revitalization Talents Program[XLYC1807090]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24718
Collection空间自动化技术研究室
Corresponding AuthorLiu YW(刘玉旺)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Liu YW,Liu XG,Yuan ZQ,et al. Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle[J]. Mechanism and Machine Theory,2019,140:44-58.
APA Liu YW,Liu XG,Yuan ZQ,&Liu JG.(2019).Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle.Mechanism and Machine Theory,140,44-58.
MLA Liu YW,et al."Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle".Mechanism and Machine Theory 140(2019):44-58.
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