Design and Analysis of a Novel Compliant Actuator With Variable Stiffness by Spring Pretension Adjustment
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 relati...
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Published in | IEEE access Vol. 11; pp. 108211 - 108221 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
Published |
Piscataway
IEEE
2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
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Summary: | 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. |
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ISSN: | 2169-3536 2169-3536 |
DOI: | 10.1109/ACCESS.2023.3321028 |