Cable-driven legged landing gear for unmanned helicopter: Prototype design, optimization and performance assessment

Tian, BaoLin; Gao, HaiBo; Yu, HaiTao; Shan, HaoMin; Hou, JunChen; Yu, HongYing; Deng, ZongQuan

doi:10.1007/s11431-023-2585-8

Cited by 2 publications

(4 citation statements)

References 38 publications

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“…In order to verify the solution to the SWTD problem of the 1-DOF joint module, two simulation cases were set for different poses and external loads of the 1-DOF joint module, named Case 1 and Case 2 respectively. For Case ( 1,2) ii =…”

Section: Simulation Verificationmentioning

confidence: 99%

“…While the traditional rigid robots always have heavy weight and high stiffness, which are not safe enough for human-robot interaction. In the past decades, soft robots have attracted researchers' attention, due to their great potential to interact with the human and the environment more safely and more adaptively [1,2].…”

Section: Introductionmentioning

confidence: 99%

“…However, the existing VSUs generally had some following shortcomings [42][43][44]: (1) the VSU was made up with several parts, which was complex, large and heavy. (2) The assembly of the VSUs could not keep them same. (3) the stiffness-force relationship of the VSU was highly nonlinear.…”

Section: Introductionmentioning

confidence: 99%

“…represented the stiffness of the th ( 1, 2) ii = wire with the VSU in series. Since the stiffness of the wire was far greater than the stiffness of the VSU, then k  was the stiffness of the VSU placed in the th( 1,2) ii =wire.…”

mentioning

confidence: 99%

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Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Qian,

Yang,

Ruan

et al. 2024

Preprint

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In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.

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Section: Simulation Verificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Qian,

Yang,

Ruan

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Qian,

Yang,

Ruan

et al. 2024

Symmetry

View full text Add to dashboard Cite

Collaborative robots are used in scenarios requiring interaction with humans. In order to improve the safety and adaptability of collaborative robots during human–robot interaction, this paper proposes a modular wire-actuated robotic arm with symmetric variable-stiffness units. The variable-stiffness unit is employed to extend the stiffness-adjustment range of the robotic arm. The variable-stiffness unit is designed based on flexure, featuring a compact and simple structure. The stiffness–force relationship of the variable-stiffness unit can be fitted by a quadratic function with an R-squared value of 0.99981, indicating weak nonlinearity. Based on the kinematics and stiffness analysis of the symmetric joint module of the robotic arm, the orientation of the joint module can be adjusted by regulating the length of the wires and the stiffness of the joint module can be adjusted by regulating the tension of the wires. Because of the actuation redundancy, the orientation and stiffness of the joint module can be adjusted synchronously. Furthermore, a direct method is proposed for the stiffness-oriented wire-tension-distribution problem of the 1-DOF joint module. A simulation is carried out to verify the proposed method. The simulation result shows that the deviation between the calculated stiffness and the desired stiffness was less than 0.005%.

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Cable-driven legged landing gear for unmanned helicopter: Prototype design, optimization and performance assessment

Cited by 2 publications

References 38 publications

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

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