A novel design of variable stiffness linkage with distributed leaf springs

Xingming Wu; Zijian Zhao; Jianhua Wang; Dong Xu; Weihai Chen

doi:10.1109/ICIEA.2016.7603689

A novel design of variable stiffness linkage with distributed leaf springs

Xingming Wu
, Zijian Zhao
, Jianhua Wang^*
, Dong Xu
, Weihai Chen

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Compliance is an important property in machine, but mechanism to realize compliance is not adequate to the demand. In this paper, the variable stiffness linkage (VSL) was designed to achieve safety assurance, stability improvement and energy conservation in robots and mechanical applications. Stiffness change could be realized by changing the position of the slider on each leaf spring. In order to save the energy from holding the specific stiffness, a screw-slider-linkage-slider mechanism was applied. Design principle and mechanical realization of VSL were presented. And then an effective stiffness model was designed. Finally the simulation was performed, which proved the effectiveness of VSL.

Original language	English
Title of host publication	Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	789-794
Number of pages	6
ISBN (Electronic)	9781509026050
DOIs	https://doi.org/10.1109/ICIEA.2016.7603689
State	Published - 19 Oct 2016
Event	11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016 - Hefei, China Duration: 5 Jun 2016 → 7 Jun 2016

Publication series

Name	Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016

Conference

Conference	11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016
Country/Territory	China
City	Hefei
Period	5/06/16 → 7/06/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

leaf spring
safty
screw-slider
variable stiffness

Access to Document

10.1109/ICIEA.2016.7603689

Cite this

Wu, X., Zhao, Z., Wang, J., Xu, D., & Chen, W. (2016). A novel design of variable stiffness linkage with distributed leaf springs. In Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016 (pp. 789-794). Article 7603689 (Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2016.7603689

Wu, Xingming ; Zhao, Zijian ; Wang, Jianhua et al. / A novel design of variable stiffness linkage with distributed leaf springs. Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 789-794 (Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016).

@inproceedings{a9baff831663469cbc40bbba6768ea44,

title = "A novel design of variable stiffness linkage with distributed leaf springs",

abstract = "Compliance is an important property in machine, but mechanism to realize compliance is not adequate to the demand. In this paper, the variable stiffness linkage (VSL) was designed to achieve safety assurance, stability improvement and energy conservation in robots and mechanical applications. Stiffness change could be realized by changing the position of the slider on each leaf spring. In order to save the energy from holding the specific stiffness, a screw-slider-linkage-slider mechanism was applied. Design principle and mechanical realization of VSL were presented. And then an effective stiffness model was designed. Finally the simulation was performed, which proved the effectiveness of VSL.",

keywords = "leaf spring, safty, screw-slider, variable stiffness",

author = "Xingming Wu and Zijian Zhao and Jianhua Wang and Dong Xu and Weihai Chen",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016 ; Conference date: 05-06-2016 Through 07-06-2016",

year = "2016",

month = oct,

day = "19",

doi = "10.1109/ICIEA.2016.7603689",

language = "英语",

series = "Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "789--794",

booktitle = "Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016",

address = "美国",

}

Wu, X, Zhao, Z, Wang, J, Xu, D & Chen, W 2016, A novel design of variable stiffness linkage with distributed leaf springs. in Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016., 7603689, Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016, Institute of Electrical and Electronics Engineers Inc., pp. 789-794, 11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016, Hefei, China, 5/06/16. https://doi.org/10.1109/ICIEA.2016.7603689

A novel design of variable stiffness linkage with distributed leaf springs. / Wu, Xingming; Zhao, Zijian; Wang, Jianhua et al.
Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 789-794 7603689 (Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A novel design of variable stiffness linkage with distributed leaf springs

AU - Wu, Xingming

AU - Zhao, Zijian

AU - Wang, Jianhua

AU - Xu, Dong

AU - Chen, Weihai

PY - 2016/10/19

Y1 - 2016/10/19

N2 - Compliance is an important property in machine, but mechanism to realize compliance is not adequate to the demand. In this paper, the variable stiffness linkage (VSL) was designed to achieve safety assurance, stability improvement and energy conservation in robots and mechanical applications. Stiffness change could be realized by changing the position of the slider on each leaf spring. In order to save the energy from holding the specific stiffness, a screw-slider-linkage-slider mechanism was applied. Design principle and mechanical realization of VSL were presented. And then an effective stiffness model was designed. Finally the simulation was performed, which proved the effectiveness of VSL.

AB - Compliance is an important property in machine, but mechanism to realize compliance is not adequate to the demand. In this paper, the variable stiffness linkage (VSL) was designed to achieve safety assurance, stability improvement and energy conservation in robots and mechanical applications. Stiffness change could be realized by changing the position of the slider on each leaf spring. In order to save the energy from holding the specific stiffness, a screw-slider-linkage-slider mechanism was applied. Design principle and mechanical realization of VSL were presented. And then an effective stiffness model was designed. Finally the simulation was performed, which proved the effectiveness of VSL.

KW - leaf spring

KW - safty

KW - screw-slider

KW - variable stiffness

UR - https://www.scopus.com/pages/publications/84997532318

U2 - 10.1109/ICIEA.2016.7603689

DO - 10.1109/ICIEA.2016.7603689

M3 - 会议稿件

AN - SCOPUS:84997532318

T3 - Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016

SP - 789

EP - 794

BT - Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016

Y2 - 5 June 2016 through 7 June 2016

ER -

Wu X, Zhao Z, Wang J, Xu D, Chen W. A novel design of variable stiffness linkage with distributed leaf springs. In Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 789-794. 7603689. (Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016). doi: 10.1109/ICIEA.2016.7603689

A novel design of variable stiffness linkage with distributed leaf springs

Abstract

Publication series

Conference

UN SDGs

Keywords

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