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Stiffness Analysis of a Variable Stiffness Joint Using a Leaf Spring

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

A variable stiffness joint using a leaf spring is designed to ensure physical safety. The joint stiffness is often controlled by changing the effective length of the leaf spring. The stiffness model based on the small-deformation theory cannot solve large deflection problems of the leaf spring caused by larger joint deflected angles. The elliptic integral solution is considered to be the most accurate method for analyzing large deflections of beams. In this paper, a stiffness analysis model based on the elliptic integral solution is proposed. The joint stiffness property is analyzed. The simulation results show the joint stiffness is nonmonotonic and strong nonlinear. A stiffness simplified model is presented by nonlinear curve fitting for application simplicity. The experiment is carried out to verify the stiffness property and the stiffness analysis model.

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Acknowledgment

The authors gratefully acknowledge the financial support from the National Natural Science Foundation of China under Grant No. 51575092.

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Authors and Affiliations

  1. Northeastern University, Shenyang, 110819, China

    Lijin Fang & Yan Wang

Authors
  1. Lijin Fang
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  2. Yan Wang
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Corresponding author

Correspondence to Lijin Fang .

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Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Fang, L., Wang, Y. (2017). Stiffness Analysis of a Variable Stiffness Joint Using a Leaf Spring. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_20

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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