Design and modelling of a novel linkage mechanism based variable stiffness actuator

Cui, Ze; Peng, Yizhong; Qian, Donghai; Yang, Haiwei; Pan, Hongwei

doi:10.1109/robio.2013.6739442

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) 2013

DOI: 10.1109/robio.2013.6739442

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Design and modelling of a novel linkage mechanism based variable stiffness actuator

Ze Cui

Yizhong Peng

Donghai Qian

et al.

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2014

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“…There are two categories of variable rigidity compliant actuators based on different design principles: antagonistic [3][4][5][6] and series [7][8][9][10][11][12]. Antagonistic actuators use two drivers and nonlinear springs in series.…”

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confidence: 99%

Development of a novel variable stiffness actuator with automatic rigidity/compliance switching

Cui

Yang

Qian

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Flexible driving is essential in enhancing security during human-robot interactions and improving the adaptability of robots to complex environments. Based on these principles, we developed a variable stiffness actuator with automatic rigidity/ compliance switching. The actuator contains two motors-one for position control and the other for adjusting the stiffness. The stiffness adjustment motor independently alters stiffness through regulating the distance between the output shaft and the spring sliders. The function of automatic rigidity/compliance switching is realized through turning four electromagnets on or off to make sucker up or down. We set up an experimental platform to verify the automatic switching function for rigid and compliant characteristics. Results showed that the actuator can cover a wide range of stiffness and provide reliable rigidity/compliance switching.

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mentioning

confidence: 99%

Development of a novel variable stiffness actuator with automatic rigidity/compliance switching

Cui

Yang

Qian

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

Self Cite

View full text Add to dashboard Cite

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Design and modelling of a novel linkage mechanism based variable stiffness actuator

Cited by 1 publication

References 10 publications

Development of a novel variable stiffness actuator with automatic rigidity/compliance switching

Development of a novel variable stiffness actuator with automatic rigidity/compliance switching

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