DocumentCode :
3754875
Title :
Simulation research and experimental verification of a variable stiffness actuator with automatic rigidity/compliance switching
Author :
Ze Cui;Yuqian Cui;Donghai Qian;Weiren Song;Yanbiao Li
Author_Institution :
Department of Precision Mechanical Engineering, School of Mechatronics Engineering and Automation, Shanghai University
fYear :
2015
Firstpage :
2187
Lastpage :
2192
Abstract :
Flexible driving with variable stiffness is very significant in improving the safety of robot. This paper makes simulation analysis and experimental verification for variable stiffness actuator. The closed-loop servo control system based on Trio motion controller on the basis of analyzing the structure and motion of variable stiffness actuator with automatic rigidity/compliance switching was designed, the experiments on the control platform which has been set up were performed. The simulation model of variable stiffness actuator with automatic rigidity/compliance switching was established. The simulation for the key parameters was analyzed and an optimization solution for spring compression was proposed. The experimental platform was set up to make the test of rigidity/compliance switching, stiffness characteristic and collision. Results showed that the rigidity/compliance switching function of the variable stiffness actuator is reliable, the stiffness characteristics are consistent with the theoretical data, the actuator can effectively weaken the impact force in the collision.
Keywords :
"Shafts","Springs","Actuators","Robots","Switches","Joining processes"
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBIO.2015.7419098
Filename :
7419098
Link To Document :
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