TY - GEN
T1 - Design of A Variable Stiffness Actuator and Study on Its Variable Stiffness Characteristics
AU - Zhang, Lan
AU - Huang, Guanyu
AU - Zhu, Shiqiang
AU - Kong, Lingyu
AU - Xie, Anhuan
AU - Chen, Lingkai
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022/10
Y1 - 2022/10
N2 - In this paper, the structural design of a variable stiffness actuator (VSA) is proposed, and the variable stiffness characteristics of the VSA are studied. The VSA is compact and can be used for humanoid robots. Firstly, the structure of the VSA is designed. Then the stiffness model of the structure is derived in theory and the dynamic simulation is performed in ADAMS. The stiffness results of dynamic simulation and theoretical calculation are highly consistent, which verified the correctness of each other. Finally, the influence of the curve equation of the worm gear disc on the stiffness of the system is studied: The radius of the curve is a function of the angle, and when the order of the curve equation is higher, the stiffness adjustment range of the system is wider. Under the premise of meeting the same stiffness requirements, when the order of the curve equation increases, the radius of the higher-order curve equation is only half of that of the lower-order curve equation, and a more compact VSA can be obtained. The results are of great significance to the prototype design, that is, without changing the main design dimensions of each component, the stiffness of the system can reach the design value simply by changing the order of the curve equation.
AB - In this paper, the structural design of a variable stiffness actuator (VSA) is proposed, and the variable stiffness characteristics of the VSA are studied. The VSA is compact and can be used for humanoid robots. Firstly, the structure of the VSA is designed. Then the stiffness model of the structure is derived in theory and the dynamic simulation is performed in ADAMS. The stiffness results of dynamic simulation and theoretical calculation are highly consistent, which verified the correctness of each other. Finally, the influence of the curve equation of the worm gear disc on the stiffness of the system is studied: The radius of the curve is a function of the angle, and when the order of the curve equation is higher, the stiffness adjustment range of the system is wider. Under the premise of meeting the same stiffness requirements, when the order of the curve equation increases, the radius of the higher-order curve equation is only half of that of the lower-order curve equation, and a more compact VSA can be obtained. The results are of great significance to the prototype design, that is, without changing the main design dimensions of each component, the stiffness of the system can reach the design value simply by changing the order of the curve equation.
KW - dynamic simulation
KW - Humanoid robot
KW - structural design
KW - variable stiffness actuator
KW - variable stiffness characteristics
UR - http://www.scopus.com/inward/record.url?scp=85142449564&partnerID=8YFLogxK
U2 - 10.1109/ICMEAS57305.2022.00009
DO - 10.1109/ICMEAS57305.2022.00009
M3 - Conference article published in proceeding or book
AN - SCOPUS:85142449564
T3 - Proceedings - 2022 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
SP - 1
EP - 6
BT - Proceedings - 2022 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Mechanical Engineering and Automation Science, ICMEAS 2022
Y2 - 14 October 2022 through 16 October 2022
ER -