Research on Variable Stiffness Actuator of Compliance Robot Joint
文献类型：会议论文
| 作者 | Cheng Q(程强)1,3,4; Zhang, Lu2; Liu YW(刘玉旺)1,3 ; Liu XG(刘霞刚)1,3,4
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| 出版日期 | 2018 |
| 会议日期 | November 25-26, 2018 |
| 会议地点 | Xiamen, China |
| 关键词 | Antagonistic principle Spring Variable stiffness Simulation |
| 页码 | 299-304 |
| 英文摘要 | In the complex human-machine collaboration environment, it is particularly important that the robot joint has a certain variable compliance performance. The variable stiffness joint based on the antagonistic principle is a research hotspot of the compliant robot joint. In this paper, a variable stiffness actuator is proposed. This design eliminates the antagonistic effect of the elastic component in the antagonistic joint and improves the energy storage density. Theoretical analysis of nonlinear characteristics is carried out. In addition, it was studied by simulation and experiment. |
| 产权排序 | 1 |
| 会议录 | 2ND INTERNATIONAL CONFERENCE ON MODELING, SIMULATION AND OPTIMIZATION TECHNOLOGIES AND APPLICATIONS (MSOTA 2018)
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| 会议录出版者 | DESTECH PUBLICATIONS, INC |
| 会议录出版地 | LANCASTER |
| 语种 | 英语 |
| ISSN号 | 2475-8841 |
| ISBN号 | 978-1-60595-594-0 |
| WOS记录号 | WOS:000474464100050 |
| 源URL | [http://ir.sia.cn/handle/173321/25277]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Zhang, Lu |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences. 100094, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110023, China |
| 推荐引用方式 GB/T 7714 | Cheng Q,Zhang, Lu,Liu YW,et al. Research on Variable Stiffness Actuator of Compliance Robot Joint[C]. 见:. Xiamen, China. November 25-26, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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