Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle
文献类型：期刊论文
| 作者 | Liu YW(刘玉旺)2 ; Liu XG(刘霞刚)1,2; Yuan ZQ(袁忠秋)2; Liu JG(刘金国)2
|
| 刊名 | Mechanism and Machine Theory
 |
| 出版日期 | 2019 |
| 卷号 | 140页码:44-58 |
| 关键词 | Human-machine collaboration Variable stiffness joint Antagonistic principle Elastic component Parallel arrangement |
| ISSN号 | 0094-114X |
| 产权排序 | 1 |
| 英文摘要 | Human-machine collaboration is an inevitable development trend of robots, and the variable stiffness joints of robots has been increasingly investigated by researchers. The variable stiffness joint based on the antagonism principle has received extensive attention, where its variable stiffness actuator mainly including nonlinear elastic components and antagonistic force pairs are the research hotspots. In this paper, a spring parallel variable stiffness actuator (SPVSA) based on a novel variable stiffness principle is proposed, in which the linear spring is arranged in parallel with the antagonistic force, so that the elastic components are no longer involved in the antagonism. The variable stiffness actuator effectively eliminates the antagonistic effect of the elastic components and improves the shock absorption and energy storage capacity. And based on the passive and active stiffness adjustment modes, the variable stiffness speed can be effectively improved. Meanwhile, the use of extremely ultralight springs and wire ropes simplifies the structure of the actuator and reduces the quality and size of the joints. In this paper the model design, related theoretical analysis and simulation analysis of SPVSA are carried out. And the effectiveness and advancement of SPVSA are verified by experiments. |
| WOS关键词 | IMPEDANCE |
| 资助项目 | National Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51605474] ; National Natural Science Foundation of China[61821005] ; LiaoNing Revitalization Talents Program[XLYC1807090] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000478967700004 |
| 资助机构 | National Key R&D Program of China ; National Natural Science Foundation of China ; LiaoNing Revitalization Talents Program |
| 源URL | [http://ir.sia.cn/handle/173321/24718]  |
| 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.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Liu YW,Liu XG,Yuan ZQ,et al. Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle[J]. Mechanism and Machine Theory,2019,140:44-58. |
| APA | Liu YW,Liu XG,Yuan ZQ,&Liu JG.(2019).Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle.Mechanism and Machine Theory,140,44-58. |
| MLA | Liu YW,et al."Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle".Mechanism and Machine Theory 140(2019):44-58. |
入库方式： OAI收割
来源：沈阳自动化研究所
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