| Autor: |
Youlei Zhao, Junqiang Liu, Li Li, Yapeng Xu |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
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| Zdroj: |
IEEE Access, Vol 11, Pp 108211-108221 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2023.3321028 |
| Popis: |
Variable stiffness actuators (VSA) are an emerging advanced driving method for robotic joint in physical human-robot interaction scenarios. This paper proposes a VSA based on adjusting the pre-tightening force of the driving ropes by rotating the linear springs to change the angle of its axis relative to the input frame. By adjusting the spring angle within a small relative rotation angle stroke, the angle between the spring axis and the transmission rope can be changed, thereby achieving rapid stiffness adjustment in a large range. The characteristics analysis shows that the proposed VSA has good stiffness adjustment independence. The mechanical design scheme of the VSA is introduced in detail. Simulations based on a proportional derivative (PD) controller demonstrated the effectiveness of the design. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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