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

页码：385 / 394

页数：10

共 50 条

[21] Redesign and test of cryogenic mechanism for improved stiffness
Clark, Charles S.
Jacoby, Michael S.
Proceedings of SPIE - The International Society for Optical Engineering, 2011, 8150
[22] A clutch mechanism for switching between position and stiffness control of a Variable Stiffness Actuator
Cempini, Marco
Fumagalli, Matteo
Vitiello, Nicola
Stramigioli, Stefano
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 1017 - 1022
[23] An Online Stiffness Estimation Approach for Variable Stiffness Actuators Using Lever Mechanism
Liu, Zhangxing
Jin, Hongzhe
Liu, Yubin
Zhao, Jie
IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (03) : 6709 - 6717
[24] A NEW VARIABLE STIFFNESS SPRING USING A PRESTRESSED MECHANISM
Azadi, Mojtaba
Behzadipour, Saeed
Guest, Simon
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, : 301 - 307
[25] A novel variable stiffness mechanism for dielectric elastomer actuators
Li, Wen-Bo
Zhang, Wen-Ming
Zou, Hong-Xiang
Peng, Zhi-Ke
Meng, Guang
SMART MATERIALS AND STRUCTURES, 2017, 26 (08)
[26] Design of a Variable Stiffness Flexure Mechanism for Micromanipulation Tasks
Su, Zhao
Iwasa, Toshihiro
Yi, Lim Zhen
Yap, Shee Cheng
Chen Silu
Tech, Ang Wei
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2014, : 949 - 954
[27] A Novel Variable Stiffness Underwater Biomimetic Propulsion Mechanism
Hong, Zicun
Huang, Haoyu
Zhong, Yong
2023 29TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE, M2VIP 2023, 2023,
[28] Analysis and Synthesis of the Bidirectional Antagonistic Variable Stiffness Mechanism
Petit, Florian
Friedl, Werner
Hoeppner, Hannes
Grebenstein, Markus
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (02) : 684 - 695
[29] Study on Variable Stiffness Mechanism Using Magnetorheological Elastomer
Ahn, Dahoon
Shin, Yujeong
Choi, Kyungwho
POLYMER-KOREA, 2021, 45 (06) : 948 - 954
[30] A Reconfigurable Variable Stiffness Manipulator by a Sliding Layer Mechanism
Li, Dickson Chun Fung
Wang, Zerui
Ouyang, Bo
Liu, Yun-Hui
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 3976 - 3982

← 1 2 3 4 5 →