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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism
Liu YW(刘玉旺)1,2; Wang DQ(王冬琦)1,2; Yang SK(杨尚奎)1,2; Liu JG(刘金国)1,2; Hao GB(郝广波)1,2,3
Department空间自动化技术研究室
Source PublicationFRONTIERS OF MECHANICAL ENGINEERING
ISSN2095-0233
2021
Pages1-14
Indexed BySCI
WOS IDWOS:000595908100001
Contribution Rank1
Funding OrganizationNational Key R&D Program of China [2018YFB1304600] ; National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [51975566, 61821005] ; CAS Interdisciplinary Innovation Team [JCTD-2018-11]
Keywordvariable stiffness mechanism stiffness self-regulation bionic robot modeling
Abstract

Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention. Existing passive variable stiffness joints rely mainly on sensors and special control algorithms, resulting in a bandwidth-limited response speed of the joint. We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot arm. The new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical manner. The variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload, and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human elbow. The response speed is high because sensors and control algorithms are not needed. The variable stiffness principle is explained, and the design of the variable stiffness mechanism is analyzed. A prototype is fabricated, and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28035
Collection空间自动化技术研究室
Corresponding AuthorLiu YW(刘玉旺); Hao GB(郝广波)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.School of Engineering-Electrical and Electronic Engineering, University College Cork, Cork, Ireland
Recommended Citation
GB/T 7714
Liu YW,Wang DQ,Yang SK,et al. Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism[J]. FRONTIERS OF MECHANICAL ENGINEERING,2021:1-14.
APA Liu YW,Wang DQ,Yang SK,Liu JG,&Hao GB.(2021).Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism.FRONTIERS OF MECHANICAL ENGINEERING,1-14.
MLA Liu YW,et al."Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism".FRONTIERS OF MECHANICAL ENGINEERING (2021):1-14.
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