Abstract
Based on the idea of regulating the variation on stiffness by controlling the number of springs involved in the work, this paper designs a kind of variable stiffness actuator (VSA) which can be applied to the field of robot. The variable stiffness structure takes the spiral tensile spring as the elastic element, and the number of springs Participating in the work is controlled by the push-pull electromagnet. It has the accurate positive and negative 32 kinds of stiffness adjustment values. The structure model was established by using SolidWorks. MATLAB analysis was used to optimize the design of the structure and conduct mechanical and structural stiffness analysis, and the angle range and stiffness range of the actuator were obtained, which had showed a uniform characteristic of distribution of adjustable stiffness values in stiffness range interval. The conclusion is that the VSA has the advantages of real-time and accurate change of stiffness, wide variation range of stiffness and wide adjustment range of angle.
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Cui, C., Guo, K., Sun, J. (2021). Variable Stiffness Actuator Structure for Robot. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_27
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DOI: https://doi.org/10.1007/978-3-030-89095-7_27
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