Abstract
Study of dynamic performance of variable stiffness actuators has become more important for high safety in human-robot interaction. In this paper, based on the human knee joint, a variable stiffness actuator for the knee joint is proposed and its feasibility is experimentally verified. Then by considering connection compliance between motor and internal load inside actuator, two-inertia-system model is developed, and the accuracy of this model is experimentally verified. Finally, effects of friction and gap characteristics on the dynamic performance of this actuator are analyzed. Results show that both gap and friction characteristics have significant effects on the dynamic performance of variable stiffness actuator with high precision and micro-motion, and they both cause significant dead zones when forward and reverse rotations of motor are transformed; During adjustment of stiffness, variable stiffness actuator is caused to vibrate by gap, and motor is required to provide more energy to counteract effects of friction. So the control of variable stiffness actuator still needs to be studied more thoroughly to meet requirements of vibration suppression and high accuracy.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.