A novel revolute joint of variable stiffness with reconfigurability

被引：50
|
作者：
Li, Zhongyi [1 ]
Bai, Shaoping [1 ]
机构：
[1] Aalborg Univ, Dept Mat & Prod, DK-9220 Aalborg, Denmark
来源：
MECHANISM AND MACHINE THEORY | 2019年 / 133卷
关键词：
Variable stiffness mechanism; Reconfigurable mechanism; Multi-mode stiffness variation; Exoskeletons; SERIES COMPLIANCE; DESIGN; ROBOT; ACTUATION; MECHANISM; EXOSKELETON; ORTHOSIS; POWER; GAIT;
D O I：
10.1016/j.mechmachtheory.2018.12.011
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is presented. The JVSR is designed with a compliant joint mechanism, and is able to vary widely its stiffness in multiple modes, namely, linear, hardening and softening modes. This brings the joint for many potential applications in novel transmission and robotics. In the paper, mathematical models of joint stiffness are developed for the JVSR, with which influences of design parameters are analyzed. A prototype of JVSR is constructed and preliminary test results validate the model. A design case is included to illustrate the application of the JVSR in exoskeletons. (C) 2018 Elsevier Ltd. All rights reserved.
引用
收藏
页码：720 / 736
页数：17
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