Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator

被引：0
|
作者：
Yang, Shangkui [1 ,2 ]
Chen, Peng [1 ]
Cao, Yongzhan [1 ]
Zhu, Shuyun [1 ]
Ge, Zhuang [1 ,2 ]
Liu, Yuwang [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
[2] Northeastern Univ, Sch Mech Engn & Automat, 3 Wenhua St, Shenyang 110819, Peoples R China
来源：
2019 5TH INTERNATIONAL CONFERENCE ON ENERGY EQUIPMENT SCIENCE AND ENGINEERING | 2020年 / 461卷
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1088/1755-1315/461/1/012019
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
In this paper, a new 2-DOF variable stiffness actuator based on a 2-DOF spherical wrist parallel mechanism is proposed. A 2-DOF VSA based on a parallel ball wrist mechanism and a parallel arrangement of leaf spring sets is used. Control its stiffness adjustment, analysis its variable stiffness principle and actuator mechanical structure. The parallel arrangement of the leaf spring groups reduces the mass and volume of the joints, enabling simultaneous adjustment of the stiffness. The analytical formula of the rotational stiffness of the actuator is established according to the geometric nonlinearity of the large deflection of the leaf spring.
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页数：6
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