Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator
文献类型：会议论文
| 作者 | Yang SK(杨尚奎)1,2 ; Chen P(陈鹏)2; Cao YZ(曹永战)2; Zhu SY(朱树云)2; Ge Z(葛壮)1,2; Liu YW(刘玉旺)2
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| 出版日期 | 2019 |
| 会议日期 | November 29 - December 1, 2019 |
| 会议地点 | Harbin, China |
| 页码 | 1-6 |
| 英文摘要 | In this paper, a new 2-DOF variable stiffness actuator based on a 2-DOF spherical wrist parallel mechanism is proposed. A 2-DOF VSA based on a parallel ball wrist mechanism and a parallel arrangement of leaf spring sets is used. Control its stiffness adjustment, analysis its variable stiffness principle and actuator mechanical structure. The parallel arrangement of the leaf spring groups reduces the mass and volume of the joints, enabling simultaneous adjustment of the stiffness. The analytical formula of the rotational stiffness of the actuator is established according to the geometric nonlinearity of the large deflection of the leaf spring. |
| 产权排序 | 1 |
| 会议录 | 2019 5th International Conference on Energy Equipment Science and Engineering
 |
| 会议录出版者 | IOP |
| 会议录出版地 | Bristol, UK |
| 语种 | 英语 |
| ISSN号 | 1755-1307 |
| WOS记录号 | WOS:000562932400017 |
| 源URL | [http://ir.sia.cn/handle/173321/26755]  |
| 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, 3 Wenhua Street, Shenyang 110819, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Yang SK,Chen P,Cao YZ,et al. Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator[C]. 见:. Harbin, China. November 29 - December 1, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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