Determinants for Stiffness Adjustment Mechanisms
Determinants for Stiffness Adjustment Mechanisms
复制标题
刚度调节机构的决定因素
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
F. Iida
中科院分区：
文献类型：
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作者：
A. Jafari;H. Q. Vu;F. Iida
变刚度致动器(VSA)是新一代机器人驱动器，旨在增强机器人与未知和动态环境安全交互的能力。此外，在某些特定的应用中，例如具有不同频率的周期性运动，刚度可调可以提高能量效率。为了调整刚度，在变速器中采用了不同的机构，每种机构都满足具有特定决定因素的不同应用的要求。本文解释了这些决定因素，并提出了一个全面的框架来系统地分析不同刚度调整机构的性能。首先，对不同的刚度调整机构进行了分类。然后，通过数值分析，评估和比较了每一类关于不同决定因素的特征。这将使人们对不同类型的刚度调整机构的内在利弊有更多的了解，这些机构能够系统地未来开发变刚度执行器及其应用。
Variable stiffness actuators (VSAs) are a new generation of robotic drives that are developed to enhance the robot’s ability to safely interact with unknown and dynamic environments. Furthermore, stiffness adjsutability can enhance energy efficiency in some particular applications, e.g. periodic motions with different frequencies. To adjust the stiffness, different mechanisms have been implemented in VSAs, each to fulfill the requirements of different applications with certain determinants. This paper explains these determinants and presents a comprehensive framework to systematically analyse performances of different stiffness adjustment mechanisms. First, a classification of different stiffness adjustment mechanisms is presented. Then, characteristics of each class regarding different determinants are evaluated and compared through numerical analysis. This will give additional insights into intrinsic pros and cons of different classes of stiffness adjustment mechanisms that enable a systematic future development of variable stiffness actuators and their applications.