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Optimal Design of Cam Curve Dedicated to Improving Load Uniformity of Bidirectional Antagonistic VSA

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

Adjustable stiffness actuator (VSA) sets adjustable series flexible unit between traditional rigid motor and load to enhance the actuator performance. With a bidirectional connection of each motor to the output link, the bidirectional antagonistic VSA enables the motors to support each other to generate a higher torque at the link joint. However, the load distribution is not ideal. In this paper, a novel bidirectional antagonistic VSA is proposed. The torque of the antagonistic motors is coupled and decomposed by the symmetrical cam structure to provide the actuator with stiffness adjustment reaction and output torque. This paper focus on studies of the stiffness nonlinear compensation method to improve accuracy and cam optimization method for a small load coefficient. The optimization results are verified by MATLAB. The output load is evenly transmitted to the antagonistic motor in the high stiffness and large load working space.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant No. 52075013 and No. 51675015).

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Bei Hang University, Beijing, 100191, China

    Fanghua Mei, Shusheng Bi & Chang Liu

  2. School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, 300134, China

    Qing Chang

  3. Tianjin Chuangju Technology Co., Ltd., Tianjin, 300392, China

    Qing Chang

Authors
  1. Fanghua Mei
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  2. Shusheng Bi
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  3. Chang Liu
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  4. Qing Chang
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Corresponding author

Correspondence to Shusheng Bi .

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Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Mei, F., Bi, S., Liu, C., Chang, Q. (2021). Optimal Design of Cam Curve Dedicated to Improving Load Uniformity of Bidirectional Antagonistic VSA. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_1

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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