شماره ركورد كنفرانس :
3208
عنوان مقاله :
An Intelligent Mechanism to Change the Stiffness of a Mechanical-Magnetic Variable Stiffness Actuator (M²-VSA)
پديدآورندگان :
Dolatshahi Pirooz, Hamid Department of Electrical - Bio-electric and Mechatronics Engineering - Qazvin Azad University , Mohammad Shahri, Alireza Department of Electrical - Bio-electric and Mechatronics Engineering - Qazvin Azad University , Seyed Sajadi, Mahjabin Department of Electrical - Bio-electric and Mechatronics Engineering - Qazvin Azad University
كليدواژه :
Robotic Arm , Human Robot Interaction , Variable Stiffness Actuator , Joint
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
This paper propose an intelligent mechanism to change the
stiffness of a mechanical-magnetic variable stiffness actuator
(M2-VSA) at the joint of robotic manipulators. The robotic arm
with M2-VSA joint can safely interact with human operators and
work in hazardous conditions. The proposed intelligent
mechanism will extend the ability of the m2-VSA to handle more
variety in the load of the robot arm. The main novelty in this
work is the use of magnetic force in accompanying with springs
in a novel arrangement to adjust the joints’ stiffness and mitigate
the effect of impact. The theoretical framework and advantages
of the design are discussed in details. Experimental studies
through various tests show the effectiveness and efficiency of
mechanical-magnetic joint as a safe mechanism in environments
where human and robotics have interaction.
