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    Design of Variable Stiffness Actuator Based on Modified Gear–Rack Mechanism

    Source: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 006::page 61008
    Author:
    Wang, Wei
    ,
    Fu, Xiaoyue
    ,
    Li, Yangmin
    ,
    Yun, Chao
    DOI: 10.1115/1.4034142
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Variable stiffness actuators (VSAs) can improve the robot's performance during interactions with human and uncertain environments. Based on the modified gear–rack mechanism, a VSA with a third-power stiffness profile is designed. The proposed mechanism, used to vary the joint stiffness, is placed between the output end and the joint speed reducer. Both the elastic element and the regulating mechanism are combined into the modified gear–rack (MGR), which is modeled as an elastic beam clamped at the middle position. Two pairs of spur gears are engaged with the rack and considered as the variable acting positions of supporting forces. The joint stiffness is inversely proportional to the third power of the gear displacement, independent from the joint position and the joint deflection angle. The gear displacement is perpendicular to the loading torque, so the power consumed by the stiffness-regulating action is low (14.4 W). The working principle and the mechanics model are illustrated, and then, the mechanical design is presented. The validity of the VSA is proved by simulations and experiments.
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      Design of Variable Stiffness Actuator Based on Modified Gear–Rack Mechanism

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4235023
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    contributor authorWang, Wei
    contributor authorFu, Xiaoyue
    contributor authorLi, Yangmin
    contributor authorYun, Chao
    date accessioned2017-11-25T07:18:11Z
    date available2017-11-25T07:18:11Z
    date copyright2016/09/06
    date issued2016
    identifier issn1942-4302
    identifier otherjmr_008_06_061008.pdf
    identifier urihttp://138.201.223.254:8080/yetl1/handle/yetl/4235023
    description abstractVariable stiffness actuators (VSAs) can improve the robot's performance during interactions with human and uncertain environments. Based on the modified gear–rack mechanism, a VSA with a third-power stiffness profile is designed. The proposed mechanism, used to vary the joint stiffness, is placed between the output end and the joint speed reducer. Both the elastic element and the regulating mechanism are combined into the modified gear–rack (MGR), which is modeled as an elastic beam clamped at the middle position. Two pairs of spur gears are engaged with the rack and considered as the variable acting positions of supporting forces. The joint stiffness is inversely proportional to the third power of the gear displacement, independent from the joint position and the joint deflection angle. The gear displacement is perpendicular to the loading torque, so the power consumed by the stiffness-regulating action is low (14.4 W). The working principle and the mechanics model are illustrated, and then, the mechanical design is presented. The validity of the VSA is proved by simulations and experiments.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDesign of Variable Stiffness Actuator Based on Modified Gear–Rack Mechanism
    typeJournal Paper
    journal volume8
    journal issue6
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4034142
    journal fristpage61008
    journal lastpage061008-10
    treeJournal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 006
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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