Design of a Flexure-based Variable Stiffness Device for Cable-driven Joint Modules
文献类型：会议论文
| 作者 | Wang, Jun; Yang, Guilin; Yang, Kaisheng; Chen, Chin-Yin |
| 出版日期 | 2015 |
| 会议日期 | DEC 06-09, 2015 |
| 关键词 | MECHANISM |
| 英文摘要 | Robots with variable stiffness can achieve intrinsically safe motions, which are essential for human-robot interactions. This paper aims to design a variable stiffness device (VSD) for cable-driven robots. In order to achieve a large stiffness variation with a compact design, a novel VSD based on flexure mechanisms is proposed. Through design optimization, the resultant flexure-based VSD exhibits a liner relationship between its stiffness and deformation, which is ideal for stiffness control of a cable-driven joint module. To illustrate the effectiveness of the proposed VSD, cable-driven revolute joint modules with different arrangement of VSDs are studied, in which the joint module stiffness is regulated through tension control of the driving cables. |
| 学科主题 | Robotics |
| ISBN号 | 978-1-4673-9675-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23483]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Wang, Jun,Yang, Guilin,Yang, Kaisheng,et al. Design of a Flexure-based Variable Stiffness Device for Cable-driven Joint Modules[C]. 见:. DEC 06-09, 2015. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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