Design and analysis of a novel variable stiffness actuator based on parallel-assembled-folded serial leaf springs
Design and analysis of a novel variable stiffness actuator based on parallel-assembled-folded serial leaf springs
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基于并联折叠串联板簧的新型变刚度执行器设计与分析
DOI：
10.1080/01691864.2017.1390495
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发表时间：
2017-09
影响因子：
2
通讯作者：
Y. L. Wang
中科院分区：
文献类型：
--
作者：
S. S. Bi;C. Liu;H. Z. Zhao;Y. L. Wang
摘要变刚度执行器可以显著提高机器人的动态性能，保证人机交互的安全性。本文介绍了一种新型的结构控制变速器，它在保持尺寸和承载能力不变的情况下，实现了较低的最小刚度。通过改变并联折叠式串联钢板弹簧的有效长度来实现刚度的变化，使得刚度的调整变得更加容易，并且可以由独立的电机驱动。考虑了钢板弹簧和滚子之间的间隙，建立了修正的关节刚度分析模型。实验证明，与忽略缝隙的理想模型相比，改进后的模型具有更高的精度。进一步的分析表明，间隙甚至会对基于钢板弹簧的结构控制VSA在变形性和能量容量等其他性能上产生严重影响。图形摘要
Abstract Variable stiffness actuator (VSA) can significantly improve the dynamic performance of robots and ensure safety in human robot interaction. In this paper, a novel structure-controlled VSA which achieves a lower minimal stiffness while the size and load capacity remain unchanged is introduced. Stiffness variation is implemented by changing the effective length of parallel-assembled-folded serial leaf springs presented in this paper, which makes the adjustment of stiffness easier and driven by an independent motor. A modified analytical model of joint stiffness is built, which takes the gap between leaf springs and rollers into consideration. Experiments prove that the modified model is more accurate comparing with the ideal model which ignores the gap. Further analyses show that the gap can even make serious impacts on leaf spring-based structure-controlled VSA in other performances such as deformability and energy capacity. Graphical Abstract
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影响因子：
6.4
作者：
Cestari, Manuel;Sanz-Merodio, Daniel;Garcia, Elena
通讯作者：
Garcia, Elena
DOI：
10.1109/icra.2011.5980303
发表时间：
2011-05
期刊：
2011 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Sebastian Wolf;O. Eiberger;G. Hirzinger
通讯作者：
Sebastian Wolf;O. Eiberger;G. Hirzinger
DOI：
10.1109/iros.2011.6095006
发表时间：
2011-12
期刊：
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
N. Tsagarakis;I. Sardellitti;D. Caldwell
通讯作者：
N. Tsagarakis;I. Sardellitti;D. Caldwell
影响因子：
3.3
作者：
N. L. Tagliamonte;F. Sergi;D. Accoto;G. Carpino;E. Guglielmelli
通讯作者：
N. L. Tagliamonte;F. Sergi;D. Accoto;G. Carpino;E. Guglielmelli
DOI：
10.1109/robot.1995.525630
发表时间：
1995-05
期刊：
Proceedings of 1995 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
T. Morita;S. Sugano
通讯作者：
T. Morita;S. Sugano