An Improved Mechanism for Rotational Variable Stiffness

被引：1
|
作者：
Nelson, Carl [1 ]
机构：
[1] Univ Nebraska Lincoln, Lincoln, NE 68588 USA
来源：
MECHANISM DESIGN FOR ROBOTICS, MEDER 2024 | 2024年
关键词：
Variable Stiffness; Robot Compliance; Gear-Rack System; DESIGN; ACTUATOR; IMPLEMENTATION;
D O I：
10.1007/978-3-031-67383-2_40
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a variable-stiffness mechanism that uses the variable-lever principle to achieve a large range of output stiffness variation. It is unique in its use of a gear/rack pair to function both as a lever with a variable pivot point and as part of the stiffness-adjustment transmission mechanism. It improves on a previous design by reconfiguring some of the kinematic constraints on the gear, resulting in very efficient operation. Simulation experiments are presented to validate the design.
引用
收藏
页码：385 / 394
页数：10
相关论文
共 50 条
  • [1] Design and Validation of an Improved Rotational Variable Stiffness Mechanism
    Nelson, Carl
    Moomau, Kasey
    Li, Yucheng
    MACHINES, 2025, 13 (01)
  • [2] The mVSA-UT: a Miniaturized Differential Mechanism for a Continuous Rotational Variable Stiffness Actuator
    Fumagalli, Matteo
    Barrett, Eamon
    Stramigioli, Stefano
    Carloni, Raffaella
    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), 2012, : 1943 - 1948
  • [3] Investigation of the Impact of Slider Mass Stiffness on the Behavior of the Variable Inertia Rotational Mechanism for Structural Vibration Mitigation
    Sarkar, Anika T.
    Wierschem, Nicholas E.
    DYNAMICS OF CIVIL STRUCTURES, VOL 2, 2025, : 51 - 57
  • [4] A NEW VARIABLE STIFFNESS SUSPENSION MECHANISM
    Anubi, Olugbenga M.
    Crane, Carl D., III
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B, 2012, : 1193 - 1201
  • [5] DESIGN AND ANALYSIS OF A VARIABLE STIFFNESS MECHANISM
    Anubi, Olugbenga M.
    Crane, Carl D., III
    Ridgeway, Shanon
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, : 589 - 596
  • [6] Design of a Variable Stiffness Series Mechanism
    Fu, Qiang
    Li, Xun
    Guo, Jian
    Guo, Shuxiang
    Cai, Zhuocong
    Fu, Jiajun
    2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2021), 2021, : 909 - 913
  • [7] The vsaUT-II: a Novel Rotational Variable Stiffness Actuator
    Groothuis, S.
    Rusticelli, G.
    Zucchelli, A.
    Stramigioli, S.
    Carloni, R.
    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 3355 - 3360
  • [8] A Variable Stiffness Soft Gripper Based on Rotational Layer Jamming
    Zhu, Mingzhu
    Xie, Mengying
    Mori, Yoshiki
    Dai, Junyue
    Kawamura, Sadao
    Yue, Xiaokui
    SOFT ROBOTICS, 2024, 11 (01) : 85 - 94
  • [9] A novel energy-efficient rotational variable stiffness actuator
    Rao, Shodhan
    Carloni, Raffaella
    Stramigioli, Stefano
    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2011, : 8175 - 8178
  • [10] Design and Analysis of a Compliant Mechanism with Variable Stiffness
    Zhang, Weipeng
    Yan, Peng
    2023 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM, 2023, : 1254 - 1259
12345