| Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle | |
| Liu, Yuwang1; Liu, Xiagang1,2; Yuan, Zhongqiu1; Liu, Jinguo1 | |
| Corresponding Author | Liu, Yuwang(liuyuwang@sia.cn) |
| 2019-10-01 | |
| Source Publication | MECHANISM AND MACHINE THEORY
 |
| ISSN | 0094-114X |
| Volume | 140Pages:44-58 |
| Abstract | Human-machine collaboration is an inevitable development trend of robots, and the variable stiffness joints of robots has been increasingly investigated by researchers. The variable stiffness joint based on the antagonism principle has received extensive attention, where its variable stiffness actuator mainly including nonlinear elastic components and antagonistic force pairs are the research hotspots. In this paper, a spring parallel variable stiffness actuator (SPVSA) based on a novel variable stiffness principle is proposed, in which the linear spring is arranged in parallel with the antagonistic force, so that the elastic components are no longer involved in the antagonism. The variable stiffness actuator effectively eliminates the antagonistic effect of the elastic components and improves the shock absorption and energy storage capacity. And based on the passive and active stiffness adjustment modes, the variable stiffness speed can be effectively improved. Meanwhile, the use of extremely ultralight springs and wire ropes simplifies the structure of the actuator and reduces the quality and size of the joints. In this paper the model design, related theoretical analysis and simulation analysis of SPVSA are carried out. And the effectiveness and advancement of SPVSA are verified by experiments. (C) 2019 Elsevier Ltd. All rights reserved. |
| Keyword | Human-machine collaboration Variable stiffness joint Antagonistic principle Elastic component Parallel arrangement |
| Funding Organization | National Key R&D Program of China ; National Natural Science Foundation of China ; LiaoNing Revitalization Talents Program |
| DOI | 10.1016/j.mechmachtheory.2019.05.016 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51605474] ; National Natural Science Foundation of China[61821005] ; LiaoNing Revitalization Talents Program[XLYC1807090] |
| WOS Research Area | Engineering |
| WOS Subject | Engineering, Mechanical |
| WOS ID | WOS:000478967700004 |
| Publisher | PERGAMON-ELSEVIER SCIENCE LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/135044 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Liu, Yuwang |
| Affiliation | 1.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China 2.Northeastern Univ, Sch Mech Engn & Automat, Shenyang, Liaoning, Peoples R China |
| Recommended Citation GB/T 7714 | Liu, Yuwang,Liu, Xiagang,Yuan, Zhongqiu,et al. Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle[J]. MECHANISM AND MACHINE THEORY,2019,140:44-58. |
| APA | Liu, Yuwang,Liu, Xiagang,Yuan, Zhongqiu,&Liu, Jinguo.(2019).Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle.MECHANISM AND MACHINE THEORY,140,44-58. |
| MLA | Liu, Yuwang,et al."Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle".MECHANISM AND MACHINE THEORY 140(2019):44-58. |
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