TY - JOUR
T1 - New Variable Stiffness Joint (VSJ)
T2 - Study and Simulation
AU - Contreras-Calderón, M. G.
AU - Laribi, M. A.
AU - Castillo-Castañeda, E.
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - Variable stiffness joints are devices that allow changing the joint stiffness of a mechanism. The development of this joint has increased, and various applications have emerged, most to improve human-robot interaction. This paper presents a proposal design of a new variable stiffness joint (VSJ). The working principle consists of antagonist extension springs with a rack and pinion mechanism. The springs are attached to a set of racks that allow varying the spring length, the main factor in varying the stiffness. The racks engage with a set of gears; one has a motor attached, which is responsible for varying the joint stiffness. Its mathematical model describes the joint behavior to maintain a constant force at the end of a link. Its simulation is performed with a constant force placed at the end of the link to evaluate the joint’s performance in a rotational situation.
AB - Variable stiffness joints are devices that allow changing the joint stiffness of a mechanism. The development of this joint has increased, and various applications have emerged, most to improve human-robot interaction. This paper presents a proposal design of a new variable stiffness joint (VSJ). The working principle consists of antagonist extension springs with a rack and pinion mechanism. The springs are attached to a set of racks that allow varying the spring length, the main factor in varying the stiffness. The racks engage with a set of gears; one has a motor attached, which is responsible for varying the joint stiffness. Its mathematical model describes the joint behavior to maintain a constant force at the end of a link. Its simulation is performed with a constant force placed at the end of the link to evaluate the joint’s performance in a rotational situation.
KW - Antagonist springs
KW - Compliant joint
KW - Human-robot interaction
KW - Variable stiffness joint
UR - http://www.scopus.com/inward/record.url?scp=85105656627&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-75271-2_30
DO - 10.1007/978-3-030-75271-2_30
M3 - Artículo
AN - SCOPUS:85105656627
SN - 2211-0984
VL - 103
SP - 284
EP - 293
JO - Mechanisms and Machine Science
JF - Mechanisms and Machine Science
ER -