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Variable Stiffness Actuator Structure for Robot

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13013))

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Abstract

Based on the idea of regulating the variation on stiffness by controlling the number of springs involved in the work, this paper designs a kind of variable stiffness actuator (VSA) which can be applied to the field of robot. The variable stiffness structure takes the spiral tensile spring as the elastic element, and the number of springs Participating in the work is controlled by the push-pull electromagnet. It has the accurate positive and negative 32 kinds of stiffness adjustment values. The structure model was established by using SolidWorks. MATLAB analysis was used to optimize the design of the structure and conduct mechanical and structural stiffness analysis, and the angle range and stiffness range of the actuator were obtained, which had showed a uniform characteristic of distribution of adjustable stiffness values in stiffness range interval. The conclusion is that the VSA has the advantages of real-time and accurate change of stiffness, wide variation range of stiffness and wide adjustment range of angle.

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Authors and Affiliations

  1. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Ji’nan, 250061, People’s Republic of China

    Chuanyi Cui, Kai Guo & Jie Sun

  2. Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Ji’nan, 250061, People’s Republic of China

    Chuanyi Cui, Kai Guo & Jie Sun

Authors
  1. Chuanyi Cui
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  2. Kai Guo
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  3. Jie Sun
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Corresponding author

Correspondence to Kai Guo .

Editor information

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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Cui, C., Guo, K., Sun, J. (2021). Variable Stiffness Actuator Structure for Robot. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_27

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  • DOI: https://doi.org/10.1007/978-3-030-89095-7_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89094-0

  • Online ISBN: 978-3-030-89095-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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