Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator

He Peng; Xia Wang; Dexu Geng; Wenzhi Xu

doi:10.20944/preprints202311.1057.v1

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preprints.org > engineering > mechanical engineering > doi: 10.20944/preprints202311.1057.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator

^* ,

Version 1 : Received: 15 November 2023 / Approved: 16 November 2023 / Online: 16 November 2023 (07:44:59 CET)
Version 2 : Received: 13 December 2023 / Approved: 14 December 2023 / Online: 14 December 2023 (05:49:51 CET)

A peer-reviewed article of this Preprint also exists.

Peng, H.; Wang, X.; Geng, D.; Xu, W. A Pneumatic Particle-Blocking Variable-Stiffness Actuator. Sensors 2023, 23, 9817. Peng, H.; Wang, X.; Geng, D.; Xu, W. A Pneumatic Particle-Blocking Variable-Stiffness Actuator. Sensors 2023, 23, 9817.

Abstract

In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. the tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and material properties.The compressive stiffness and lateral stiffness increases nonlinearly as air pressure increases, being 3and 121 times greater at 0.17 MPa compared to 0 MPa, respectively. Beyond 0.17 MPa, the two stiffness of the actuator experiences incremental growth due to wedge impedance forces.

Keywords

variable-stiffness; pneumatic actuation; elastic actuator; flexible robot

Subject

Engineering, Mechanical Engineering

Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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