| Autor: |
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Sensors, Vol 23, Iss 24, p 9817 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s23249817 |
| Popis: |
In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. The anti-tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and material properties. The anti-compressive stiffness and lateral stiffness increase nonlinearly as air pressure increases, being 3 and 121 times greater at 0.17 MPa compared to 0 MPa, respectively. Beyond 0.17 MPa, the two stiffnesses of the actuator experience incremental growth due to wedge resistance forces. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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