Design, modeling and control of a novel compact, energy-efficient, and rotational serial variable stiffness actuator (SVSA-II)

2018 ◽  
Vol 130 ◽  
pp. 123-136 ◽  
Author(s):  
Jiantao Sun ◽  
Zhao Guo ◽  
Dingyang Sun ◽  
Siyu He ◽  
Xiaohui Xiao
Keyword(s):  
Energy Efficient ◽  
Variable Stiffness ◽  
Modeling And Control ◽  
Variable Stiffness Actuator ◽  
And Control

scholarly journals Simultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator

2019 ◽  
Vol 1 (2) ◽  
pp. 80-97
Author(s):  
Jesus H Lugo
Keyword(s):  
Control Method ◽  
Variable Stiffness ◽  
Industrial Processes ◽  
Revolute Joint ◽  
Additional Information ◽  
Physical Prototype ◽  
Stiffness Control ◽  
Variable Stiffness Actuator ◽  
Control Fluid ◽  
And Control

Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

2018 ◽  
Author(s):  
Erivelton Gualter dos Santos ◽  
Hanz Richter
Keyword(s):  
Position Control ◽  
Lightweight Design ◽  
Variable Stiffness ◽  
Electrical Energy ◽  
Flexible Beam ◽  
Modeling And Control ◽  
Electromechanical Drive ◽  
Elastic Potential Energy ◽  
Mechanical Dynamics ◽  
And Control

This paper focuses on the design, modeling and basic control of a variable stiffness actuator to be used in combination with a regenerative electromechanical drive system. Due to the use of a flexible beam, the actuator has the ability to store and return elastic potential energy. Also, an ultracapacitor is used in the electromechanical drive, which allows electrical energy storage and return. Moreover, elastic and electrostatic energies can be exchanged, resulting in a highly efficient and lightweight design which will be beneficial for robotic prostheses, exoskeletons and other orthotic devices. The paper presents a model and calculation method for large beam deflections and the integrated electromechanical actuator model. A semiactive virtual control strategy is used to decouple the mechanical dynamics from the charge dynamics and achieve position control of the actuator. Simulation results are presented to illustrate the control system and the energy exchange features.

Design, Modeling, and Control of a Variable Stiffness Device for Wrist Rehabilitation

2021 ◽  
Author(s):  
O. Manolo Flores ◽  
Jesus H. Lugo ◽  
Alejandro Gonzalez ◽  
Mauro Maya ◽  
Emilio J. Gonzalez-Galvan ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Modeling And Control ◽  
And Control

scholarly journals MATHEMATICAL MODELING AND CONTROL SYSTEM OF NEARLY ZERO ENERGY BUILDING

2018 ◽  
Vol 8 (2) ◽  
pp. 21-24
Author(s):  
Ildar Sultanguzin ◽  
Hannes Toepfer ◽  
Ivan Kalyakin ◽  
Alexandr Govorin ◽  
Ekaterina Zhigulina ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Renewable Energy Sources ◽  
Monitoring And Control ◽  
Zero Energy ◽  
Modeling And Control ◽  
Energy Supply System ◽  
Zero Energy Building ◽  
Definition Of ◽  
And Control ◽  
Energy Efficient Building

The article examines three different kinds of mathematical model of nearly zero energy building. The first model enables to optimize the structure and the definition of key parameters of energy efficient building. The second model is necessary for passive house designing with renewable energy sources. The third model should be used for monitoring and control of energy supply system of nearly zero energy building through year every hour of winter and summer.

scholarly journals Modeling and control of inherently safe robots with variable stiffness links

2019 ◽  
Vol 120 ◽  
pp. 103247 ◽  
Author(s):  
Siyang Song ◽  
Xianpai Zeng ◽  
Yu She ◽  
Junmin Wang ◽  
Hai-Jun Su
Keyword(s):  
Variable Stiffness ◽  
Modeling And Control ◽  
And Control
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