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Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator
Yang SK(杨尚奎)1,2; Chen P(陈鹏)1; Cao YZ(曹永战)1; Zhu SY(朱树云)1; Ge Z(葛壮)1,2; Liu YW(刘玉旺)1
Department空间自动化技术研究室
Conference Name2019 5th International Conference on Energy Equipment Science and Engineering, ICEESE 2019
Conference DateNovember 29 - December 1, 2019
Conference PlaceHarbin, China
Source Publication2019 5th International Conference on Energy Equipment Science and Engineering
PublisherIOP
Publication PlaceBristol, UK
2019
Pages1-6
Indexed ByEI
EI Accession number20201908616413
Contribution Rank1
ISSN1755-1307
AbstractIn this paper, a new 2-DOF variable stiffness actuator based on a 2-DOF spherical wrist parallel mechanism is proposed. A 2-DOF VSA based on a parallel ball wrist mechanism and a parallel arrangement of leaf spring sets is used. Control its stiffness adjustment, analysis its variable stiffness principle and actuator mechanical structure. The parallel arrangement of the leaf spring groups reduces the mass and volume of the joints, enabling simultaneous adjustment of the stiffness. The analytical formula of the rotational stiffness of the actuator is established according to the geometric nonlinearity of the large deflection of the leaf spring.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26755
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, Shenyang 110016, China
2.(School of Mechanical Engineering and Automation, Northeastern University, 3 Wenhua Street, Shenyang 110819, China
Recommended Citation
GB/T 7714
Yang SK,Chen P,Cao YZ,et al. Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator[C]. Bristol, UK:IOP,2019:1-6.
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