Abstract
Joint actuator plays an important role in improving the robot adaptability in unstructured environment and reducing energy consumption. According to the task, the rack-based variable stiffness actuator can adjust the joint stiffness in real time. The working principle of the rack-based variable stiffness actuator is elaborated and the mechanical design is presented. Through simulation and experiments, the validity of the rack-based variable stiffness actuator is proved. The rack-based variable stiffness actuator can effectively reduce the overall volume of the actuator and has a large adjustment range with short adjustment time.
| Original language | English |
|---|---|
| Pages (from-to) | 26-33 |
| Number of pages | 8 |
| Journal | Jixie Gongcheng Xuebao/Journal of Mechanical Engineering |
| Volume | 52 |
| Issue number | 1 |
| DOIs | |
| State | Published - 5 Jan 2016 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
Keywords
- Flexible rack
- Joint actuator
- Robot
- Variable stiffness
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