Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs
In response to challenges like the complexity and limited scalability of existing variable stiffness joints, a novel variable stiffness joint, based on leaf spring elements, is introduced in this paper. The joint stiffness can be adjusted in real time by changing the effective length of the leaf spr...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/7/2685 |
| _version_ | 1797212940425756672 |
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| author | Caidong Wang Yafeng Gao Yapeng Xu Xinjie Wang Liangwen Wang |
| author_facet | Caidong Wang Yafeng Gao Yapeng Xu Xinjie Wang Liangwen Wang |
| author_sort | Caidong Wang |
| collection | DOAJ |
| description | In response to challenges like the complexity and limited scalability of existing variable stiffness joints, a novel variable stiffness joint, based on leaf spring elements, is introduced in this paper. The joint stiffness can be adjusted in real time by changing the effective length of the leaf spring via the use of an Archimedean spiral groove. The stiffness adjustment range and load capacity of the joint can be defined by manually configuring the number of springs involved during offline joint operations. A stiffness model for the joint is established based on the cantilever beam theory of material mechanics. The coupled effects of the design parameters of the variable stiffness mechanism on joint stiffness, elastic torque, and stiffness adjustment resistance torque are analyzed. A dynamic model for the joint is developed, while a PID controller is designed for simulation purposes. The motion characteristics of the joint are analyzed, confirming that this approach has certain advantages in terms of stiffness adjustment speed and accuracy. |
| first_indexed | 2024-04-24T10:50:22Z |
| format | Article |
| id | doaj.art-d23fe7caace54f5da01e6496a237ea2d |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-04-24T10:50:22Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-d23fe7caace54f5da01e6496a237ea2d2024-04-12T13:14:32ZengMDPI AGApplied Sciences2076-34172024-03-01147268510.3390/app14072685Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf SpringsCaidong Wang0Yafeng Gao1Yapeng Xu2Xinjie Wang3Liangwen Wang4Henan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, ChinaHenan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, ChinaHenan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, ChinaHenan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, ChinaHenan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment, Zhengzhou University of Light Industry, Zhengzhou 450002, ChinaIn response to challenges like the complexity and limited scalability of existing variable stiffness joints, a novel variable stiffness joint, based on leaf spring elements, is introduced in this paper. The joint stiffness can be adjusted in real time by changing the effective length of the leaf spring via the use of an Archimedean spiral groove. The stiffness adjustment range and load capacity of the joint can be defined by manually configuring the number of springs involved during offline joint operations. A stiffness model for the joint is established based on the cantilever beam theory of material mechanics. The coupled effects of the design parameters of the variable stiffness mechanism on joint stiffness, elastic torque, and stiffness adjustment resistance torque are analyzed. A dynamic model for the joint is developed, while a PID controller is designed for simulation purposes. The motion characteristics of the joint are analyzed, confirming that this approach has certain advantages in terms of stiffness adjustment speed and accuracy.https://www.mdpi.com/2076-3417/14/7/2685variable stiffness mechanismphysical robot–environment interactionvariable stiffness jointleaf spring |
| spellingShingle | Caidong Wang Yafeng Gao Yapeng Xu Xinjie Wang Liangwen Wang Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs Applied Sciences variable stiffness mechanism physical robot–environment interaction variable stiffness joint leaf spring |
| title | Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs |
| title_full | Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs |
| title_fullStr | Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs |
| title_full_unstemmed | Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs |
| title_short | Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs |
| title_sort | design and analysis of a novel variable stiffness joint based on leaf springs |
| topic | variable stiffness mechanism physical robot–environment interaction variable stiffness joint leaf spring |
| url | https://www.mdpi.com/2076-3417/14/7/2685 |
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