Research on Variable Stiffness Actuator of Compliance Robot Joint

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Research on Variable Stiffness Actuator of Compliance Robot Joint
	Cheng Q(程强)1,3,4; Zhang, Lu 2; Liu YW(刘玉旺)1,3 ; Liu XG(刘霞刚)1,3,4
	2018
会议日期	November 25-26, 2018
会议地点	Xiamen, China
关键词	Antagonistic principle Spring Variable stiffness Simulation
页码	299-304
英文摘要	In the complex human-machine collaboration environment, it is particularly important that the robot joint has a certain variable compliance performance. The variable stiffness joint based on the antagonistic principle is a research hotspot of the compliant robot joint. In this paper, a variable stiffness actuator is proposed. This design eliminates the antagonistic effect of the elastic component in the antagonistic joint and improves the energy storage density. Theoretical analysis of nonlinear characteristics is carried out. In addition, it was studied by simulation and experiment.
产权排序	1
会议录	2ND INTERNATIONAL CONFERENCE ON MODELING, SIMULATION AND OPTIMIZATION TECHNOLOGIES AND APPLICATIONS (MSOTA 2018)
会议录出版者	DESTECH PUBLICATIONS, INC
会议录出版地	LANCASTER
语种	英语
ISSN号	2475-8841
ISBN号	978-1-60595-594-0
WOS记录号	WOS:000474464100050
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25277]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Zhang, Lu
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences. 100094, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110023, China
推荐引用方式 GB/T 7714	Cheng Q,Zhang, Lu,Liu YW,et al. Research on Variable Stiffness Actuator of Compliance Robot Joint[C]. 见:. Xiamen, China. November 25-26, 2018.