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

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