Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustm

来源 :机械工程前沿 | 被引量 : 0次 | 上传用户:wangbaosen321
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
The safety of human-robot interaction is an essential requirement for designing collaborative robotics.Thus,this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human-robot interaction for collaborative robotics.VSA follows the idea of modular design,mainly including a variable stiffness module and a drive module.The variable stiffness module transmits the motion from the drive module in a roundabout manner,making the modularization of VSA possible.As the key component of the variable stiffness module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric structure.The design of the double-deck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the parts.Consequently,the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other.To facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also proposed.Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA.Experiment results show that the VSA stiffness is close to the theoretical design stiffness.Furthermore,the VSA with a proportional-derivative feedback plus feedforward control-ler exhibits a fast response for stiffness regulation and a good performance for position tracking.
其他文献
The objective of this paper is to quantify the variability in emissions of off-road equipment using a portable emission measurement system.A total of 53 commonly used equipment for agriculture,base construction,paving construction,and material handling we
The problem related to bearing capacity of footing either on pure soil or on pure rock mass has been investigated over the years.Currently,no study deals with the bearing capacity of strip footing on a cohesive soil layer overlying rock mass.Therefore,by
A methodology to compute the CO2 uptake of recycled aggregate concrete is proposed in the commented paper.Besides some typos in several formulas,it is found that the approach to estimate the specific surface area of the recycled aggregates is not correct.
期刊
采用失重法、电化学法及表面分析测试研究了农林废弃物核桃青皮提取物(WGHE)与阴离子表面活性剂十二烷基磺酸钠(SLS)对冷轧钢在2.0 mol/L H3PO4介质中的缓蚀协同效应,并对WGHE中的缓蚀有效成分进行了探究.结果 表明:单独的WGHE、SLS具有中等程度的缓蚀性能,50℃时100 mg/L的缓蚀率仅为50%左右;WGHE/SLS复配后缓蚀率不断上升,最高缓蚀率可达95.3%,两者之间存在显著的缓蚀协同效应,缓蚀协同效应系数随温度的升高而增大.WGHE/SLS复配缓蚀剂更能同时有效抑制阴极和阳极
This paper proposes a new Deep Feed-forward Neural Network (DFNN) approach for damage detection in functionally graded carbon nanotube-reinforced composite (FG-CNTRC) plates.In the proposed approach,the DFNN model is developed based on a data set containi
In waterfront geotechnical engineering,seismic and drainage conditions must be considered in the design of retaining structures.This paper proposes a general analytical method to evaluate the seismic active earth pressure on a retaining wall with backfill
探究了CO2湿气环境中P110SS抗硫钢在不同温湿度下的S腐蚀特征及腐蚀机理.采用X射线光电子能谱(XPS)和扫描电子显微镜(SEM),对P110SS钢表面腐蚀产物膜的化学组成、微观形貌及厚度及去除腐蚀产物后基体的微观形貌进行了表征.结果 表明:在60℃、相对湿度为30%的条件下,S不会参与腐蚀反应,但腐蚀环境中的Cl和CO2会导致抗硫钢发生局部腐蚀;当相对湿度升高至60%和90%时,S参与了腐蚀的阴极反应,生成FeS,并导致抗硫钢发生全面腐蚀.在80℃、相对湿度为30%的条件下,S也参与腐蚀的阴极反应,
The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing;however,current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to ac
Robot-assisted technology has been increasingly employed in the therapy of post stroke patients to deliver high-quality treatment and alleviate therapists\' burden.This paper introduces a novel parallel end traction apparatus (PETA) to supplement equipm
分别测试了新型F级船用低温钢板表面生成不同氧化物后的往复摩擦行为,并结合白光干涉仪以及扫描电子显微镜分别对钢样的显微组织形貌和磨痕形貌进行了表征.结果 表明:γ-FeOOH氧化层钢样、原始钢样、Fe3O4氧化层钢样的耐磨蚀性能依次变高.其中,致密完整的Fe3O4氧化层钢样的磨损量最低,磨痕轮廓深度和尺寸都最小,表面以粘着磨蚀为主,耐蚀性也最好;γ-FeOOH氧化层微观结构较为疏松,摩擦系数最小,但是在摩擦腐蚀的协同作用下磨损量最大,磨损机理皆以磨粒磨损为主;未处理钢样的耐磨蚀性能处于两种预氧化钢样之间,以