A Design and Modeling of the Bionic Variable Stiffness Unit Based on the Elbow Joint
文献类型：会议论文
| 作者 | Liu XG(刘霞刚)1,2,3; Liu YW(刘玉旺)1,2,3 ; Cheng Q(程强)1,2,3
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| 出版日期 | 2018 |
| 会议日期 | November 17-19, 2018 |
| 会议地点 | Guangzhou, China |
| 关键词 | Variable stiffness unit Bionics Lever principle |
| 页码 | 150-154 |
| 英文摘要 | Due to problems of slow response speed and complex mechanisms, the application of variable stiffness joints is limited. The variable stiffness element can be divided into the part with variable stiffness and the part with adjustable external force point. The variable stiffness part adopts the lever principle and changes the stiffness of the joint by changing the length of the lever arm. The external force adjustment part adopts the two-stage four-bar mechanism, which transforms the gravity of the object into the horizontal movement of the slider on the guide rail. The response speed of the unit is greatly improved by the use of the pure mechanism. It is ensured that the stiffness of the variable stiffness unit can be adjusted at the same time with smaller size and a wide range of stiffness adjustment. Based on the elbow joint, a bionic variable stiffness unit is proposed. It can automatically change the stiffness according to the different grasping of a weight, which is same as the human arm. On the basic of/According to the derivation of the Variable Stiffness Unit mathematical model, the three-dimensional model of the Variable Stiffness unit is drawn. |
| 产权排序 | 1 |
| 会议录 | 2018 3rd International Conference on Robotics and Automation Engineering (ICRAE)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-9594-4 |
| WOS记录号 | WOS:000456372400031 |
| 源URL | [http://ir.sia.cn/handle/173321/23791]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Liu YW(刘玉旺) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016 China 3.Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819 China |
| 推荐引用方式 GB/T 7714 | Liu XG,Liu YW,Cheng Q. A Design and Modeling of the Bionic Variable Stiffness Unit Based on the Elbow Joint[C]. 见:. Guangzhou, China. November 17-19, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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