Design, modeling and control of a reconfigurable variable stiffness actuator

Xu, Yapeng; Guo, Kai; Sun, Jie; Li, Jianfeng

doi:10.1016/j.ymssp.2021.107883

Cited by 39 publications

(10 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, by arranging multiple leaf spring parts (connected in parallel) uniformly around the output axis, not only can the minimum stiffness value be changed (changing the tuning bandwidth), but the load capacity of the entire VSJ can also be improved, thereby acquiring certain reconfigurable characteristics. This bears important positive significance for the VSJ to adapt to application scenarios involving different loads [38].…”

Section: Analysis Of Stiffness Regulation Principlesmentioning

confidence: 99%

Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs

Wang,

Gao,

et al. 2024

Applied Sciences

Self Cite

View full text Add to dashboard Cite

In response to challenges like the complexity and limited scalability of existing variable stiffness joints, a novel variable stiffness joint, based on leaf spring elements, is introduced in this paper. The joint stiffness can be adjusted in real time by changing the effective length of the leaf spring via the use of an Archimedean spiral groove. The stiffness adjustment range and load capacity of the joint can be defined by manually configuring the number of springs involved during offline joint operations. A stiffness model for the joint is established based on the cantilever beam theory of material mechanics. The coupled effects of the design parameters of the variable stiffness mechanism on joint stiffness, elastic torque, and stiffness adjustment resistance torque are analyzed. A dynamic model for the joint is developed, while a PID controller is designed for simulation purposes. The motion characteristics of the joint are analyzed, confirming that this approach has certain advantages in terms of stiffness adjustment speed and accuracy.

show abstract

Section: Analysis Of Stiffness Regulation Principlesmentioning

confidence: 99%

Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs

Wang,

Gao,

et al. 2024

Applied Sciences

Self Cite

View full text Add to dashboard Cite

show abstract

“…This method can only switch between either low or high bandwidth. Subsequently, variable stiffness actuator (VSA) was proposed [17][18][19][20]. The stiffness of the VSA can be adjusted continuously according to the control demand.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a compliant robotic actuator with parallel spring-damping transmission

Yuan,

Liu,

Branson

et al. 2024

Robotica

View full text Add to dashboard Cite

Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits the force and position control performance of the actuator system due to the induced oscillations and decreased mechanical bandwidth. To solve this problem, we first investigate the dynamic effects of implementing variable physical damping into a compliant actuator. Following this, we propose a structural scheme that integrates a variable damping element in parallel to a conventional series elastic actuator. A damping regulation algorithm is then developed for the parallel spring-damping actuator (PSDA) to tune the dynamic performance of the system while remaining sufficient compliance. Experimental results show that the PSDA offers better stability and dynamic capability in the force and position control by generating appropriate damping levels.

show abstract

“…To address the limitation of SEA, variable stiffness actuator (VSA) was proposed and developed rapidly [20][21][22][23][24][25][26][27][28][29][30][31][32][33]. However, most VSAs are equipped with two actuators (usually motors) to actively adjust the stiffness and equilibrium position independently, which leads to bulky and complex structures and causes additional power consumption.…”

Section: Introductionmentioning

confidence: 99%

Design of a torsional compliant mechanism with given discrete torque-deflection points for nonlinear stiffness elastic actuator

Kang

et al. 2023

Robotica

View full text Add to dashboard Cite

Owing to inherent flexibility, compliant actuator with physical elastic elements can implement compliant interactions between robot and environment. Nonlinear stiffness elastic actuators (NSEAs) use one motor to adjust position and stiffness, which improve compactness of variable stiffness actuators, and consider high torque/force resolution and high bandwidth. The primary challenge of designing a NSEA is designing a reliable compliant mechanism with a given torque-deflection profile. In this study, a general design method of torsional compliant mechanism through given discrete torque-deflection points was proposed, where a chain algorithm based on 2R pseudo-rigid-body model was used to describe the large deformation in elastic elements. Moreover, the theoretical model of stiffness of a compliant mechanism based on series flexible beams was developed. Based on the proposed model, the dimensional parameters of proposed compliant mechanism were designed satisfying the condition of the given torque-deflection points. Finally, simulation and physical experiment of the designed compliant mechanism through three given torque-deflection points are conducted to show the effectiveness of the proposed method. The designed compliant mechanism was tested and evaluated in the self-developed NSEA.

show abstract

Design, modeling and control of a reconfigurable variable stiffness actuator

Cited by 39 publications

References 41 publications

Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs

Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs

Design and control of a compliant robotic actuator with parallel spring-damping transmission

Design of a torsional compliant mechanism with given discrete torque-deflection points for nonlinear stiffness elastic actuator

Contact Info

Product

Resources

About