Antagonistic variable stiffness elements

Azadi, Mojtaba; Behzadipour, Saeed; Faulkner, Garry

doi:10.1016/j.mechmachtheory.2009.03.002

Cited by 47 publications

(50 citation statements)

References 35 publications

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“…Few of the systems discussed in the literature are compared with this work for comfort and handling evaluation. Azadi et al 20,21 developed a variable stiffness mount with pre-stressed cable-based mechanism. The stiffness has been varied from 160 to 510 N/mm.…”

Section: Fitment Of the Real Size Shock Absorbermentioning

confidence: 99%

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Analysis of suspension with variable stiffness and variable damping force for automotive applications

Jugulkar

Singh

Sawant

2016

Advances in Mechanical Engineering

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Passive shock absorbers are designed for standard load condition. These give better vibration isolation performance only for the standard load condition. However, if the sprung mass is lesser than the standard mass, comfort and road holding ability is affected. It is demonstrated that sprung mass acceleration increases by 50%, when the vehicle mass varies by 100 kg. In order to obtain consistent damping performance from the shock absorber, it is essential to vary its stiffness and damping properties. In this article, a variable stiffness system is presented, which comprises of two helical springs and a variable fluid damper. Fluid damper intensity is changed in four discrete levels to achieve variable stiffness of the prototype. Numerical simulations have been performed with MATLAB Simscape and Simulink which have been with experimentation on a prototype. Furthermore, the numerical model of the prototype is used in design of real size shock absorber with variable stiffness and damping. Numerical simulation results on the real size model indicate that the peak acceleration will improve by 15% in comparison to the conventional passive solution, without significant deterioration of road holding ability. Arrangement of sensors and actuators for incorporating the system in a vehicle suspension has also been discussed.

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Section: Fitment Of the Real Size Shock Absorbermentioning

confidence: 99%

“…18 Xian and Shuen 19 developed a system that can vary the stiffness from 50 to 80 N/mm, to suit applications in construction company. Azadi et al 20,21 have identified cable-driven mechanism based variable stiffness unit for an engine mount. Modified quarter car model is used to perform transmissibility analysis of the system.…”

Section: Introductionmentioning

confidence: 99%

Analysis of suspension with variable stiffness and variable damping force for automotive applications

Jugulkar

Singh

Sawant

2016

Advances in Mechanical Engineering

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“…Structures constructed in this way are unlikely to be used for civil engineering structures, but might be appropriate for highly compliant structures, e.g. tensegrity robots (Aldrich et al, 2003;Mirats Tur and Hernàndez Juan, 2009) or tensegrity springs (Azadi et al, 2009). Furthermore, demonstation models are often constructed with elastomeric cables (Pugh, 1976;Connelly and Back, 1998).…”

Section: Compliant Cables/high Relative Prestressmentioning

confidence: 99%

The stiffness of tensegrity structures

Guest

2010

IMA Journal of Applied Mathematics

110

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The stiffness of tensegrity structures comes from two sources: the change of force carried by members as their length is changed, and the reorientation of forces as already stressed members are rotated. For any particular tensegrity, both sources of stiffness may have a critical role to play. This paper explores how the stiffness of two example tensegrity structures changes as the level of prestress in a member varies. It is shown that, for high levels of prestress, an originally stable tensegrity can be made to have zero stiffness, or indeed be made unstable.

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“…4,5 This actuation architecture causes two significant drawbacks: the necessity of using complex control algorithms to achieve the desired behaviors and a reduced energetic efficiency. 6 Azadi et al 10 and Boehler et al 11 proposed CDM as antagonistic variable stiffness mechanism which could provide a faster response, coming from the level of internal forces (prestress) in the links of the mechanism. The use of the prestress modulation to generate variable stiffness can be very effective to obtain large stiffness variations without modifying the equilibrium configuration.…”

Section: Introductionmentioning

confidence: 99%

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

Zhang

Cao

Hou

et al. 2019

Advances in Mechanical Engineering

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The design of variable stiffness mechanism is of great importance to wheelchair-mounted robotic manipulators. In this article, the authors propose a cable-driven parallel-series hybrid joint toward wheelchair-mounted robotic manipulators with adjusting the system stiffness actively. The joint is a cable-driven, compression-spring-supported hybrid mechanism. Then, the kinematic analysis and cable tension analysis through static modeling are established to derive the joint stiffness model. Finally, cable-driven parallel-series hybrid joint stiffness adjustment ability analysis is carried out in four different load cases with MATLAB. Featured with light structure, stiffness adjustability, and large workspace, the proposed cabledriven parallel-series hybrid joint proves to be of great potential use for wheelchair-mounted robotic manipulators.

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Antagonistic variable stiffness elements

Cited by 47 publications

References 35 publications

Analysis of suspension with variable stiffness and variable damping force for automotive applications

Analysis of suspension with variable stiffness and variable damping force for automotive applications

The stiffness of tensegrity structures

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

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