A Novel Variable Impedance Actuator Utilizing Adjustable Viscoelastic Properties of Thermoresponsive Polycaprolactone
A Novel Variable Impedance Actuator Utilizing Adjustable Viscoelastic Properties of Thermoresponsive Polycaprolactone
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利用热响应聚己内酯的可调节粘弹性特性的新型可变阻抗执行器
DOI：
10.1089/rorep.2023.0017
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Jafari, Amir
中科院分区：
文献类型：
--
作者：
Exley, Trevor;Johnson, Daniel;Jafari, Amir
本文提出了一种可变阻抗致动器的设计，该致动器能够通过热塑性聚合物的加热以离线方式改变刚度和阻尼。通常，其他执行器有额外的机制来调节整体阻抗，但本设计的关键组件使用聚己内酯。这种聚合物表现出与温度有关的粘弹性，因此在室温下，它是刚性的，随着温度的升高而软化。柔性加热器嵌入到调整输出阻抗的设计中。可变阻抗模块具有与聚合物的可变弹性和阻尼组件平行的固定弹性组件。为了显示可变阻抗的影响，在测量输出链路位置的同时，将电机设置为遵循正弦轨迹。作为输出阻抗变化的指标，由于温度升高40°C，致动器的超调量增加了五倍。虽然调整该器件的输出阻抗不适合在线实现，但该设计具有可扩展性，并且可以通过元件的小型化来实现紧凑。
This article presents a design for a variable impedance actuator capable of changing stiffness and damping through the heating of a thermoplastic polymer, in an off-line manner. Typically, other actuators have additional mechanisms to regulate overall impedance, but the key component of this design usespolycaprolactone. This polymer exhibits temperature-dependent viscoelastic properties, so that at room temperature, it is rigid, and softens as temperature increases. Flexible heaters are embedded into the design for adjusting the output impedance. The variable impedance module has fixed elastic components in parallel with the variable elastic and damping components of the polymer. To show the effect of variable impedance, the motor was set to follow sinusoidal trajectories while the position of the output link was measured. As an indicator for change in the output impedance, the actuator exhibits a fivefold increase in overshoot due to a 40°C temperature increase. Although adjusting the output impedance of this device is not suitable for on-line implementation, the design is scalable and can be made compact through miniaturization of components.
刚度调节机构的决定因素
DOI：
--
发表时间：
2016
期刊：
J. Intell. Robotic Syst.
影响因子：
--
作者：
A. Jafari;H. Q. Vu;F. Iida
通讯作者：
F. Iida
影响因子：
4.6
作者：
Briand, D.;Colin, S.;de Rooij, N. F.
通讯作者：
de Rooij, N. F.