Design and Validation of an Improved Rotational Variable Stiffness Mechanism
In various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an important capability. Various means have been developed in re...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/1/6 |
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| _version_ | 1832588088430297088 |
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| author | Carl Nelson Kasey Moomau Yucheng Li |
| author_facet | Carl Nelson Kasey Moomau Yucheng Li |
| author_sort | Carl Nelson |
| collection | DOAJ |
| description | In various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an important capability. Various means have been developed in recent years to achieve this, notable among them the so-called variable lever devices. In this paper, we present a new variable lever mechanism based on a gear–rack pair. This unique design combines the functionality of the lever itself with that of the stiffness-adjustment transmission. We show through simulations and hardware experiments the relatively large resulting range of achievable stiffness adjustment and efficient operation. |
| format | Article |
| id | doaj-art-c46045997cd449b0b1ac31e3e794dd6d |
| institution | Kabale University |
| issn | 2075-1702 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-c46045997cd449b0b1ac31e3e794dd6d2025-01-24T13:39:06ZengMDPI AGMachines2075-17022024-12-01131610.3390/machines13010006Design and Validation of an Improved Rotational Variable Stiffness MechanismCarl Nelson0Kasey Moomau1Yucheng Li2Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USADepartment of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USADepartment of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588, USAIn various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an important capability. Various means have been developed in recent years to achieve this, notable among them the so-called variable lever devices. In this paper, we present a new variable lever mechanism based on a gear–rack pair. This unique design combines the functionality of the lever itself with that of the stiffness-adjustment transmission. We show through simulations and hardware experiments the relatively large resulting range of achievable stiffness adjustment and efficient operation.https://www.mdpi.com/2075-1702/13/1/6variable stiffnessrobot compliancegear–rack system |
| spellingShingle | Carl Nelson Kasey Moomau Yucheng Li Design and Validation of an Improved Rotational Variable Stiffness Mechanism Machines variable stiffness robot compliance gear–rack system |
| title | Design and Validation of an Improved Rotational Variable Stiffness Mechanism |
| title_full | Design and Validation of an Improved Rotational Variable Stiffness Mechanism |
| title_fullStr | Design and Validation of an Improved Rotational Variable Stiffness Mechanism |
| title_full_unstemmed | Design and Validation of an Improved Rotational Variable Stiffness Mechanism |
| title_short | Design and Validation of an Improved Rotational Variable Stiffness Mechanism |
| title_sort | design and validation of an improved rotational variable stiffness mechanism |
| topic | variable stiffness robot compliance gear–rack system |
| url | https://www.mdpi.com/2075-1702/13/1/6 |
| work_keys_str_mv | AT carlnelson designandvalidationofanimprovedrotationalvariablestiffnessmechanism AT kaseymoomau designandvalidationofanimprovedrotationalvariablestiffnessmechanism AT yuchengli designandvalidationofanimprovedrotationalvariablestiffnessmechanism |