Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness
Controllable variable stiffness compliant actuator mechanism has the characteristics of high compliance, high environmental adaptability and good man-machine interaction. The variable stiffness compliant actuator mechanism is based on the transmission principle of a four-bar linkage with a zero-leng...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.008 |
| _version_ | 1797818902806265856 |
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| author | Liu Rong Zheng Zhizhen Qin Huibin Li Zhongyi Bai Shaoping |
| author_facet | Liu Rong Zheng Zhizhen Qin Huibin Li Zhongyi Bai Shaoping |
| author_sort | Liu Rong |
| collection | DOAJ |
| description | Controllable variable stiffness compliant actuator mechanism has the characteristics of high compliance, high environmental adaptability and good man-machine interaction. The variable stiffness compliant actuator mechanism is based on the transmission principle of a four-bar linkage with a zero-length rack. The variable stiffness control can be realized by changing the properties and the winding mode of the elastomer, or the configuration scheme. Through configuration analysis and structure design, the stiffness and torque models of the compliant actuator mechanism are established to reveal its stiffness behavior. The Lagrangian method is used to establish the dynamic model of the compliant actuator mechanism, and the frequency theoretical results are obtained by solving the average stiffness. The virtual prototype is established to motion simulation, which reveals its performance characteristics and verifies the correctness of theoretical analysis. Compared with other similar designs, the compliant actuator mechanism proposed has the characteristics of miniaturization and lightweight with strong applicability. It can be used as a single module and integrated into the exoskeleton system. |
| first_indexed | 2024-03-13T09:14:59Z |
| format | Article |
| id | doaj.art-3b26a19e9e274b2fb30b0f6c67d5a3a9 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:14:59Z |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-3b26a19e9e274b2fb30b0f6c67d5a3a92023-05-26T09:57:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-01-0146535933107879Design and Performance Analysis of Compliant Actuator Mechanism with Variable StiffnessLiu RongZheng ZhizhenQin HuibinLi ZhongyiBai ShaopingControllable variable stiffness compliant actuator mechanism has the characteristics of high compliance, high environmental adaptability and good man-machine interaction. The variable stiffness compliant actuator mechanism is based on the transmission principle of a four-bar linkage with a zero-length rack. The variable stiffness control can be realized by changing the properties and the winding mode of the elastomer, or the configuration scheme. Through configuration analysis and structure design, the stiffness and torque models of the compliant actuator mechanism are established to reveal its stiffness behavior. The Lagrangian method is used to establish the dynamic model of the compliant actuator mechanism, and the frequency theoretical results are obtained by solving the average stiffness. The virtual prototype is established to motion simulation, which reveals its performance characteristics and verifies the correctness of theoretical analysis. Compared with other similar designs, the compliant actuator mechanism proposed has the characteristics of miniaturization and lightweight with strong applicability. It can be used as a single module and integrated into the exoskeleton system.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.008Variable stiffness;Compliant actuator mechanism;Reconfigurable;Four-bar linkage with a zero-length rack |
| spellingShingle | Liu Rong Zheng Zhizhen Qin Huibin Li Zhongyi Bai Shaoping Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness Jixie chuandong Variable stiffness;Compliant actuator mechanism;Reconfigurable;Four-bar linkage with a zero-length rack |
| title | Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness |
| title_full | Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness |
| title_fullStr | Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness |
| title_full_unstemmed | Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness |
| title_short | Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness |
| title_sort | design and performance analysis of compliant actuator mechanism with variable stiffness |
| topic | Variable stiffness;Compliant actuator mechanism;Reconfigurable;Four-bar linkage with a zero-length rack |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.008 |
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