A new variable stiffness actuator (CompAct-VSA): Design and modelling
A new variable stiffness actuator (CompAct-VSA): Design and modelling
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DOI：
10.1109/iros.2011.6095006
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
N. Tsagarakis;I. Sardellitti;D. Caldwell
中科院分区：
文献类型：
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作者：
N. Tsagarakis;I. Sardellitti;D. Caldwell
本文介绍了一种新的变刚度致动器（CompAct-VSA）的设计和建模。CompAct-VSA的工作原理是基于一个杠杆臂机构，该机构具有连续调节的枢轴点。所提出的概念允许开发具有宽范围刚度和快速刚度调节响应的致动单元。致动器的实施方式利用具有由齿条和小齿轮传动系统致动的可变枢转轴线的凸轮形杠杆臂。这种实现导致高度集成和模块化的组件。尺寸和重量确实是VSA设计中的一个开放性问题，这最终限制了它们在多自由度机器人系统中的实现。本文介绍了该驱动器的结构、工作原理和模型。初步结果表明，快速的刚度调节响应和广泛的刚度所实现的建议紧凑型VSA设计。
This paper describes the design and modelling of a new variable stiffness actuator (CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm mechanism with a continuously regulated pivot point. The proposed concept allows for the development of an actuation unit with a wide range of stiffness and a fast stiffness regulation response. The implementation of the actuator makes use of a cam shaped lever arm with a variable pivot axis actuated by a rack and pinion transmission system. This realization results in a highly integrated and modular assembly. Size and weight are indeed an open issue in the VSAs design, which ultimately limit their implementation in multi-dof robotic systems. The paper introduces the mechanics, the principle of operation and the model of the actuator. Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed CompAct-VSA design.