Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method
Joint Authors
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-30
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Compliant actuators are more advantageous than stiff actuators in some circumstances, for example, unstructured environment robots and rehabilitation robots.
Compliant actuators are more adaptive and safe.
Constant stiffness compliant actuators have some limitations in impedance and bandwidth.
Variable stiffness actuators improve their performance owing to introducing an extra motor to tune the stiffness of the actuators.
However, they also have some limitations such as the bulky structure and heavy weight.
It was also found that there are some waste functions existing in the current variable stiffness actuators and that the fully decoupled position control and stiffness tune are not necessary, because there exist some regular phenomena during most circumstances of human interaction with the robots which are “low load, low stiffness and high load, high stiffness”.
In this paper, a design method for nonlinear stiffness compliant actuator was proposed which performed the predefined deflection-torque trajectory of the regular phenomenon.
A roller and a cantilever which has special curve profile constitute the basic mechanical structure of the nonlinear stiffness compliant actuators.
An error compensation method was also proposed to analyze the stiffness of elastic structure.
The simulation results proved that the proposed method was effective in designing a predefined nonlinear stiffness compliant actuator.
American Psychological Association (APA)
Lan, Shaobin& Song, Zhibin. 2016. Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method. Journal of Robotics،Vol. 2016, no. 2016, pp.1-8.
https://search.emarefa.net/detail/BIM-1110284
Modern Language Association (MLA)
Lan, Shaobin& Song, Zhibin. Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method. Journal of Robotics No. 2016 (2016), pp.1-8.
https://search.emarefa.net/detail/BIM-1110284
American Medical Association (AMA)
Lan, Shaobin& Song, Zhibin. Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-8.
https://search.emarefa.net/detail/BIM-1110284
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110284