@inproceedings{7da3e871bae44b7eb1472f40d4429d27,
title = "Design and Analysis of Disc-Spring-Based Cable-Driven Variable Stiffness Joints",
abstract = "Variable stiffness mechanisms perform better compliance during forceful interactions with uncertain environments. This paper proposes a novel disc-spring-based cable-driven variable stiffness joint. Considering the elastic cable and variable stiffness device, stiffness model of a general cable-driven joint is established. Mechanical property of a disc spring is analyzed. A variable stiffness device is obtained by stacking disc springs with different modes. Influence of cable tensions on stiffness of a revolute joint and a Hooke joint is evaluated. Two cases, a RR serial chain and an UR serial chain, are studied to verify the feasibility of stiffness adjustment through regulating cable tensions. Structure of the proposed variable stiffness joint is simple and compact, which can be utilized in cable-driven mechanisms widely.",
keywords = "Cable-driven, Disc spring, Mechanism analysis, Variable stiffness",
author = "Hang Xiao and Zengrui Xu and Xilun Ding and Shengnan Lyu",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 ; Conference date: 30-07-2022 Through 01-08-2022",
year = "2023",
doi = "10.1007/978-981-19-9398-5\_43",
language = "英语",
isbn = "9789811993978",
series = "Lecture Notes in Mechanical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "729--745",
editor = "Xinjun Liu",
booktitle = "Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022",
address = "德国",
}