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An NC Code Based Machining Movement Simulation Method for a Parallel Robotic Machine Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Design of a Series Variable Stiffness Joint Based on Antagonistic Principle

Authors : Shipeng Cui, Yiwei Liu, Yongjun Sun, Hong Liu

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

In order to achieve a safe human-robot interaction environment, a variable stiffness joint (VSJ) intended to apply in elbow of robot arm is introduced. The configuration of the VSJ is converted from antagonistic to series by employing a mirror pair of nonlinear elastic transmissions (NETs) which are based on compliant four-bar mechanism (CFM). In this paper, the preliminary mechanical design and the working principle details of the VSJ are presented together with systematic design process of the NET. Simulation results validate the feasibility of the design of the VSJ and the NET.

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previous chapter Stiffness Analysis of a Variable Stiffness Joint Using a Leaf Spring
next chapter Two-Degree-of-Freedom Mechanisms Design Based on Parasitic Motion Maximization
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Metadata
Title
Design of a Series Variable Stiffness Joint Based on Antagonistic Principle
Authors
Shipeng Cui
Yiwei Liu
Yongjun Sun
Hong Liu
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65291-7

Electronic ISBN: 978-3-319-65292-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65292-4_21

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