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http://dx.doi.org/10.7736/KSPE.2015.32.12.1049

Experimental Study on Different Principles of Variable Stiffness Actuators  

Baek, Kyu Yeol (School of Mechanical Engineering, Yeungnam University)
Kim, HyunGyu (School of Mechanical Engineering, Yeungnam University)
Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.32, no.12, 2015 , pp. 1049-1054 More about this Journal
Abstract
Nowadays, there are many researches involving structural actuators, which have adjustable stiffness; they are also called variable stiffness actuators (VSA). The VSAs can adjust the characteristics of actuators for various functions and human-machine safety. This paper describes the design and analysis of two types of VSAs. To adjust stiffness, the actuators are controlled by a principle of lever ratio mechanism, by changing a pivot position or a spring position in the structure with springs. To make the principle workable, the designs are simplified by using a ball screw system with a motor. Each structure shows different static properties with variable rates of stiffness. We have also shown the experimental verification of the dynamic performance of the two types of VSAs. This research can be applied to various industrial fields, where humans work in conjunction with robots.
Keywords
Variable stiffness actuator; Experimental study; Dynamic model; Ball-Screw;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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