A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

Zhang, Zhuang; Chen, Genliang; Fan, Weicheng; Yan, Wei; Kong, Lingyu; Wang, Hao

doi:10.1186/s10033-020-00490-y

Cited by 12 publications

(3 citation statements)

References 42 publications

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“…The directional movement of parts is required to perform stages such as feeding, positioning, or manipulation. Typically, various manipulators [1][2][3][4][5], grippers [6,7], sophisticated robots [8][9][10], and other assembly and positioning devices are employed to implement assembly operations through passive [11][12][13], active [14][15][16][17], and hybrid [18] approaches.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

Kilikevičius,

Liutkauskienė,

Česnavičius

et al. 2023

Applied Sciences

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Positioning applications are very important in a variety of industrial processes, including automatic assembly. This paper proposes a technique for positioning applications that involves employing a platform subjected to planar oscillations along circular, elliptical, and complex trajectories. Dynamic and mathematical models of the motion of a part on the platform were developed to investigate the motion characteristics of the part. The research showed that when the platform was excited in two perpendicular directions by sinusoidal waves, different trajectories of the part’s motion could be obtained by controlling excitation parameters such as the frequencies and amplitudes of the waves and the phase shift between the waves. Furthermore, by adjusting these parameters, the average displacement velocity of the part could be controlled. The results demonstrate that the part can be moved in any direction at a given velocity and can be subjected to complex dense positioning trajectories. Therefore, such a platform can be applied in feeding, positioning, and manipulation tasks.

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Section: Introductionmentioning

confidence: 99%

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

Kilikevičius,

Liutkauskienė,

Česnavičius

et al. 2023

Applied Sciences

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“…Self-made variable stiffness structure and custom-shaped springs have mostly been used to achieve passive stiffness adjustment. Zhang et al (2020) designed a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell. Sergi et al (2012) designed a compact rotary actuator with passive variable stiffness by using a self-made torsion spring.…”

Section: Introductionmentioning

confidence: 99%

A lightweight variable stiffness knee exoskeleton driven by shape memory alloy

Zhang

Cong

Liu

et al. 2022

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Purpose This paper aims to get rid of the traditional basic principle of using the motor as the variable stiffness drive source, simplify the structure of the exoskeleton and reduce the quality of the exoskeleton. This paper proposes to use shape memory alloys (SMA) as the variable stiffness drive source. Design/methodology/approach In this study, SMA is used to construct the active variable stiffness unit, the Brinson constitutive model is used to establish a dynamic model to control the active variable stiffness unit and the above active variable stiffness unit is used to realize the force control function and construct a lightweight, variable stiffness knee exoskeleton. Findings The dynamic model constructed in this paper can preliminarily describe the phase transformation process of the active variable stiffness unit and realize the variable stiffness function of the knee exoskeleton. The variable stiffness exoskeleton can effectively reduce the driving error under the high-speed walking condition. Originality/value The contribution of this paper is to combine SMAs to construct an active variable stiffness unit, build a dynamic model for controlling the active variable stiffness unit and construct a lightweight, variable stiffness knee exoskeleton.

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“…The application of compliant assembly technology can eliminate the pose error between docking components and assemble smoothly. Compliant assembly includes active compliant assembly and passive compliant assembly (Zhang et al , 2020).…”

Section: Introductionmentioning

confidence: 99%

An active compliant docking method for large gear components based on distributed force sensor

Chu

Huang

2022

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Purpose Large gear components widely exist in the transmission system of helicopters, ships, etc. Due to the small assembly clearance of large gear components, using an automatic docking system based on position control will lead to forced assembly. The purpose of this paper is to reduce the assembly stress of large gear components by an active compliant docking technology based on distributed force sensors. Design/methodology/approach Firstly, aiming at the noise interference in three-dimensional force sensor (TDFS), Kalman filter and Savitzky–Golay filter are used to process the sensor’s output signal. Secondly, the active compliant docking control model is constructed according to the principle of impedance control. Thirdly, the contact force is calculated based on the Euler equation, and the impedance control parameters are tuned by the particle swarm optimization algorithm. Finally, an active compliant docking system of a large gear structure based on distributed force sensor is built in the laboratory to verify the proposed method. Findings The experimental results show that the contact force and contact torque gradually decrease in all directions and are always in the safe range during the docking process. The feasibility of this method in practical application is preliminarily demonstrated. Originality/value The distributed TDFSs are used to replace the traditional six-dimensional force sensor in the active compliant docking system of gear components, which solves the problem of the small bearing capacity of the conventional active compliant docking system. This method can also be used for the docking of other large components.

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A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

Cited by 12 publications

References 42 publications

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

A lightweight variable stiffness knee exoskeleton driven by shape memory alloy

An active compliant docking method for large gear components based on distributed force sensor

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