Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

作     者：Yuwang LIU Dongqi WANG Shangkui YANG Jinguo LIU Guangbo HAO Yuwang LIU;Dongqi WANG;Shangkui YANG;Jinguo LIU;Guangbo HAO

作者机构：State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110169China School of Engineering-Electrical and Electronic EngineeringUniversity College CorkCorkIreland 

基　　金：supported by the National Key R&D Program of China(Grant No.2018YFB1304600) the National Natural Science Foundation of China(Grant Nos.51975566 and 61821005) the CAS Interdisciplinary Innovation Team(Grant No.JCTD-2018-11) 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2021年第16卷第1期

页      码：32-45页

摘      要：Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased *** passive variable stiffness joints rely mainly on sensors and special control algorithms,resulting in a bandwidth-limited response speed of the *** propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot *** 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 *** 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 *** response speed is high because sensors and control algorithms are not *** 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.

主 题 词：variable stiffness mechanism stiffness self-regulation bionic robot modeling 

学科分类：0808[工学-自动化类] 08[工学] 

核心收录：

D　O　I：10.1007/s11465-020-0604-4

馆 藏 号：203994295...