Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle

doi:10.1016/j.mechmachtheory.2019.05.016

IMR OpenIR

	Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle
	Liu, Yuwang 1; Liu, Xiagang 1,2; Yuan, Zhongqiu 1; Liu, Jinguo 1
通讯作者	Liu, Yuwang(liuyuwang@sia.cn)
	2019-10-01
发表期刊	MECHANISM AND MACHINE THEORY
ISSN	0094-114X
卷号	140 页码:44-58
摘要	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.
关键词	Human-machine collaboration Variable stiffness joint Antagonistic principle Elastic component Parallel arrangement
资助者	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
收录类别	SCI
语种	英语
资助项目	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研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000478967700004
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计	被引频次：46[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/135044
专题	中国科学院金属研究所
通讯作者	Liu, Yuwang
作者单位	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
推荐引用方式 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.