Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle

doi:10.1016/j.mechmachtheory.2019.05.016

CORC > 金属研究所 > 中国科学院金属研究所

	Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle
	Liu, Yuwang 1; Liu, Xiagang 1,2; Yuan, Zhongqiu 1; Liu, Jinguo 1
刊名	MECHANISM AND MACHINE THEORY
	2019-10-01
卷号	140 页码:44-58
关键词	Human-machine collaboration Variable stiffness joint Antagonistic principle Elastic component Parallel arrangement
ISSN号	0094-114X
DOI	10.1016/j.mechmachtheory.2019.05.016
通讯作者	Liu, Yuwang(liuyuwang@sia.cn)
英文摘要	Human-machine collaboration is an inevitable development trend of robots, and the variable stiffness joints of robots has been increasingly investigated by researchers. The variable stiffness joint based on the antagonism principle has received extensive attention, where its variable stiffness actuator mainly including nonlinear elastic components and antagonistic force pairs are the research hotspots. In this paper, a spring parallel variable stiffness actuator (SPVSA) based on a novel variable stiffness principle is proposed, in which the linear spring is arranged in parallel with the antagonistic force, so that the elastic components are no longer involved in the antagonism. The variable stiffness actuator effectively eliminates the antagonistic effect of the elastic components and improves the shock absorption and energy storage capacity. And based on the passive and active stiffness adjustment modes, the variable stiffness speed can be effectively improved. Meanwhile, the use of extremely ultralight springs and wire ropes simplifies the structure of the actuator and reduces the quality and size of the joints. In this paper the model design, related theoretical analysis and simulation analysis of SPVSA are carried out. And the effectiveness and advancement of SPVSA are verified by experiments. (C) 2019 Elsevier Ltd. All rights reserved.
资助项目	National Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51605474] ; National Natural Science Foundation of China[61821005] ; LiaoNing Revitalization Talents Program[XLYC1807090]
WOS研究方向	Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000478967700004
资助机构	National Key R&D Program of China ; National Natural Science Foundation of China ; LiaoNing Revitalization Talents Program
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/135043]
专题	金属研究所_中国科学院金属研究所
通讯作者	Liu, Yuwang
作者单位	1.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China 2.Northeastern Univ, Sch Mech Engn & Automat, Shenyang, Liaoning, Peoples R China
推荐引用方式 GB/T 7714	Liu, Yuwang,Liu, Xiagang,Yuan, Zhongqiu,et al. Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle[J]. MECHANISM AND MACHINE THEORY,2019,140:44-58.
APA	Liu, Yuwang,Liu, Xiagang,Yuan, Zhongqiu,&Liu, Jinguo.(2019).Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle.MECHANISM AND MACHINE THEORY,140,44-58.
MLA	Liu, Yuwang,et al."Design and analysis of spring parallel variable stiffness actuator based on antagonistic principle".MECHANISM AND MACHINE THEORY 140(2019):44-58.