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Characteristic Analysis of a Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13456))

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Abstract

This paper presents the characteristic analysis and mechanical realization of a novel variable stiffness actuator based on a rocker-linked epicyclic gear train (REGT-VSA). The stiffness adjustment of the actuator works by converting the differential motion of the planetary gear train into the linear motion of the elastic element. The unique design of the rocker-linked epicyclic gear train ensures excellent compactness and easy controllability, which enables the actuator to be qualified for constructing a manipulator toward cooperation applications. However, the output position and stiffness of the actuator may be affected by the mechanism clearance. The paper introduces characteristic analysis of stiffness and clearance, and carries out a series of related simulations. The analysis results can provide guidelines for the high-quality assembly of lever-based VSA.

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Acknowledgement

This work was supported by the Key-area Research and Development Program of Guangdong Province under Grant 2019B090915001, and in part by the Key Fundamental Research Program of Shenzhen under Grant No. JCYJ20200109112818703.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, People’s Republic of China

    Zhisen Li, Hailin Huang, Peng Xu, Yinghao Ning & Bing Li

  2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, People’s Republic of China

    Bing Li

Authors
  1. Zhisen Li
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  2. Hailin Huang
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  3. Peng Xu
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  4. Yinghao Ning
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  5. Bing Li
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Corresponding author

Correspondence to Bing Li .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Shenzhen, China

    Weihong Ren

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Li, Z., Huang, H., Xu, P., Ning, Y., Li, B. (2022). Characteristic Analysis of a Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_19

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  • DOI: https://doi.org/10.1007/978-3-031-13822-5_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13821-8

  • Online ISBN: 978-3-031-13822-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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