Design and Control of a Variable Stiffness Actuator Based on Adjustable Moment Arm
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Byeong-Sang | - |
dc.contributor.author | Song, Jae-Bok | - |
dc.date.accessioned | 2021-09-06T15:14:04Z | - |
dc.date.available | 2021-09-06T15:14:04Z | - |
dc.date.created | 2021-06-15 | - |
dc.date.issued | 2012-10 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/107417 | - |
dc.description.abstract | For tasks that require robot-environment interaction, stiffness control is important to ensure stable contact motion and collision safety. The variable stiffness approach has been used to address this type of control. We propose a hybrid variable stiffness actuator (HVSA), which is a variable stiffness unit design. The proposed HVSA is composed of a hybrid control module based on an adjustable moment-arm mechanism, and a drive module with two motors. By controlling the relative motion of gears in the hybrid control module, position and stiffness of a joint can be simultaneously controlled. The HVSA provides a wide range of joint stiffness due to the nonlinearity provided by the adjustable moment arm. Furthermore, the rigid mode, which behaves as a conventional stiff joint, can be implemented to improve positioning accuracy when a robot handles a heavy object. In this paper, the mechanical design features and related analysis are explained. We show that the HVSA can provide a wide range of stiffness and rapid responses according to changes in the stiffness of a joint under varying loads by experiments. The effectiveness of the rigid mode is verified by some experiments on position tracking under high-load conditions. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Design and Control of a Variable Stiffness Actuator Based on Adjustable Moment Arm | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, Jae-Bok | - |
dc.identifier.doi | 10.1109/TRO.2012.2199649 | - |
dc.identifier.scopusid | 2-s2.0-84867219602 | - |
dc.identifier.wosid | 000309728700013 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON ROBOTICS, v.28, no.5, pp.1145 - 1151 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.citation.title | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.citation.volume | 28 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 1145 | - |
dc.citation.endPage | 1151 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordAuthor | Adjustable moment arm | - |
dc.subject.keywordAuthor | compliant joint | - |
dc.subject.keywordAuthor | lever mechanism | - |
dc.subject.keywordAuthor | variable stiffness actuator (VSA) | - |
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