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Conference proceeding
Concept and Modeling of a Discrete Variable Stiffness Actuator Based on a Reconfigurable Parallel-Beam Flexure Mechanism
Proceedings of the 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, pp.99-112
IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2021), 5th (Toronto, Canada , 08/12/2021–08/14/2021)
2021
Abstract
Variable stiffness actuators (VSAs) are one of the effective solutions in developing collaborative robots with intrinsic safety for physical human-robot
interaction. This paper presents a novel compact variable stiffness actuator based on a reconfigurable parallel-beam flexure mechanism, named reconfigurable beam VSA (RBVSA). The RBVSA is composed of two mechanisms: stiffness adjustment and stiffness transmission. The main structure of the stiffness adjustment mechanism is an integrated centrosymmetric four compliant branch mechanism with each branch a parallel-beam flexure mechanism. The primary principle of stiffness change is to change the cross-sectional properties of the parallel beam segment in a discrete manner. This is realized by a block inserting method through a bistable mechanism equipped with a push-pull electromagnet module. The key structures of the stiffness transmission mechanism are four lever pin-slot connections that transmit torque to drive the flexure frame to rotate. Using the superposition method, two theoretical models are proposed to model the stiffness modes. The stiffness change relationship with various design parameters is investigated using the developed models and validated by finite element analysis (FEA). Based on these results, the optimal parameters and configurations of the RBVSA are determined to realize a large span of stiffness adjustment.
Details
- Title
- Concept and Modeling of a Discrete Variable Stiffness Actuator Based on a Reconfigurable Parallel-Beam Flexure Mechanism
- Publication Details
- Proceedings of the 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, pp.99-112
- Resource Type
- Conference proceeding
- Conference
- IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2021), 5th (Toronto, Canada , 08/12/2021–08/14/2021)
- Publisher
- Toronto, Canada
- Copyright
- ©ReMAR2021
- Identifiers
- 99380591912906600
- Academic Unit
- Hal Marcus College of Science and Engineering ; Mechanical Engineering
- Language
- English