IMR OpenIR
Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle
Liu, Yuwang1; Liu, Xiagang1,2; Yuan, Zhongqiu1; Liu, Jinguo1
Corresponding AuthorLiu, Yuwang(liuyuwang@sia.cn)
2019-10-01
Source PublicationMECHANISM AND MACHINE THEORY
ISSN0094-114X
Volume140Pages:44-58
AbstractHuman-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.
KeywordHuman-machine collaboration Variable stiffness joint Antagonistic principle Elastic component Parallel arrangement
Funding OrganizationNational Key R&D Program of China ; National Natural Science Foundation of China ; LiaoNing Revitalization Talents Program
DOI10.1016/j.mechmachtheory.2019.05.016
Indexed BySCI
Language英语
Funding ProjectNational 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 AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000478967700004
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/135044
Collection中国科学院金属研究所
Corresponding AuthorLiu, Yuwang
Affiliation1.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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Liu, Yuwang]'s Articles
[Liu, Xiagang]'s Articles
[Yuan, Zhongqiu]'s Articles
Baidu academic
Similar articles in Baidu academic
[Liu, Yuwang]'s Articles
[Liu, Xiagang]'s Articles
[Yuan, Zhongqiu]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Liu, Yuwang]'s Articles
[Liu, Xiagang]'s Articles
[Yuan, Zhongqiu]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.