A Variable Stiffness Joint with Electrospun P(VDF-TrFE-CTFE) Variable Stiffness Springs
| Autor: | Raffaella Carloni, Juri Belcari, Andrea Zucchelli, Valerie I. Lapp, Andrea Cremonese |
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| Přispěvatelé: | R. Carloni, V. I. Lapp, A. Cremonese, J. Belcari, A. Zucchelli, Artificial Intelligence |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Compliant joint/mechanism
Control and Optimization Materials science Biomedical Engineering 02 engineering and technology 010402 general chemistry 01 natural sciences BENDING ACTUATORS Artificial Intelligence Electric field Composite material Joint (geology) Variable stiffness Mechanical Engineering 021001 nanoscience & nanotechnology n/a OA procedure 0104 chemical sciences Computer Science Applications Human-Computer Interaction Control and Systems Engineering Leaf spring Nanofiber Electrode Soft material robotics compliant joint/mechanism Soft material robotics Computer Vision and Pattern Recognition 0210 nano-technology Layer (electronics) Voltage |
| Zdroj: | IEEE Robotics and automation letters, 3(2):8258976, 973-978. IEEE IEEE Robotics and Automation Letters, 3(2), 973-978. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| ISSN: | 2377-3766 |
| Popis: | This letter presents a novel rotational variable stiffness joint that relies on one motor and a set of variable stiffness springs. The variable stiffness springs are leaf springs with a layered design, i.e., an electro-active layer of electrospun aligned nanofibers of poly(vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene) [P(VDF-TrFE-CTFE)] surrounded by two electrodes of aluminum and held together by inactive material. To achieve a variable stiffness, different voltages and, therefore, different electric fields, are applied to the springs. The variable stiffness springs are electromechanically analyzed to highlight the voltage-deflection and force-deflection characteristics. Finally, the springs are used in the design of a proof-of-concept variable stiffness joint prototype. Experimental results on the variable stiffness joint confirm the viability of the proposed solution. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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