scholarly journals Research on Variable-Stiffness Mechanisms of Robot Wrists for Compliant Assembling-Clamping

2021 ◽  
Author(s):  
Kangkang Li ◽  
Pu Xing ◽  
Xu-Kun Zhang ◽  
Qing-Guo Xia
Keyword(s):  
Degrees Of Freedom ◽  
Variable Stiffness ◽  
Geometrical Parameters ◽  
Robot Wrist ◽  
Stiffness Variation ◽  
Low Stiffness ◽  
Stiffness Characteristics ◽  
Wrist Stiffness ◽  
Stiffness Distribution

Abstract The stiffness requirements of robot wrists vary with processes during automatic assembling-clamping of robots. The precision of robots moving workpieces to operating positions in the process of rigid localization is achieved if robot wrists equip with a large stiffness. The pose errors of workpieces in the process of compliant assembling-clamping can easily be compensated if robot wrists with a low stiffness is utilized. The present compliant wrist can not meet the stiffness requirements of different processes. A robot wrist with a large stiffness variation is proposed and its mechanisms of rigid localization and compliant assembling-clamping are studied. The pose models of wrists caused by deformations are established. The influences of wrist stiffness on the deformation of itself are researched. The mechanism of modulating wrist stiffness during compliant assembling-clamping is revealed. A structure of 3-DOF (degrees of freedom) robot wrist with a stiffness variation is proposed. The wrist stiffness is changed by modulating the pretension. The influences of pretensions and geometrical parameters on the variable-stiffness characteristics and the stiffness distribution of a wrist are researched. Finally, the experiments are carried out to verify the feasibility of the wrists finishing assembling-clamping operations by modulating the stiffness.

scholarly journals A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Zhuang Zhang ◽  
Genliang Chen ◽  
Weicheng Fan ◽  
Wei Yan ◽  
Lingyu Kong ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Rehabilitation Robotics ◽  
Human Robot Interaction ◽  
Main Concept ◽  
Robot Interaction ◽  
Switching Speed ◽  
Leaf Springs ◽  
Stiffness Variation ◽  
Low Stiffness ◽  
Large Deflection Problem

Abstract Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on the design, analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell. The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal. The stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast, simple and straightforward manner. The kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links. A prototype is fabricated to conduct experiments for the assessment of the proposed concept. The results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms.

scholarly journals Conceptual mechanical design of antagonistic variable stiffness joint based on equivalent quadratic torsion spring

2020 ◽  
Vol 103 (3) ◽  
pp. 003685042094129
Author(s):  
Jishu Guo
Keyword(s):  
Degrees Of Freedom ◽  
Modular Design ◽  
Angular Displacement ◽  
Variable Stiffness ◽  
Human Robot Interaction ◽  
Design Calculation ◽  
Robot Arm ◽  
Compact Structure ◽  
Torsion Spring ◽  
Stiffness Characteristics

The variable stiffness joint is a kind of flexible actuator with variable stiffness characteristics suitable for physical human–robot interaction applications. In the existing variable stiffness joints, the antagonistic variable stiffness joint has the advantages of simple implementation of variable stiffness mechanism and easy modular design of the nonlinear elastic element. The variable stiffness characteristics of antagonistic variable stiffness joints are realized by the antagonistic actuation of two nonlinear springs. A novel design scheme of the equivalent nonlinear torsion spring with compact structure, large angular displacement range, and desired stiffness characteristics is presented in this article. The design calculation for the equivalent quadratic torsion spring is given as an example, and the actuation characteristics of the antagonistic variable stiffness joint based on the equivalent quadratic torsion spring are illustrated. Based on the design idea of constructing the antagonistic variable stiffness joint with compact structure and high compliance, as well as the different design requirements of the joints at different positions of the multi–degrees of freedom robot arm, nine types of mechanical schemes of antagonistic variable stiffness joint with the open design concept are proposed in this article. Finally, the conceptual joint configuration schemes of the robot arm based on the antagonistic variable stiffness joint show the application scheme of the designed antagonistic variable stiffness joint in the multi–degrees of freedom robot.

Research of Performance Comparison of Topology Structure of Cross-Spring Flexural Pivots

2014 ◽  
Author(s):  
Lang Liu ◽  
Hongzhe Zhao ◽  
Shusheng Bi ◽  
Jingjun Yu
Keyword(s):  
Performance Comparison ◽  
Geometrical Parameters ◽  
Temperature Drift ◽  
Element Analysis ◽  
Small Motion ◽  
Stiffness Characteristic ◽  
The Finite Element Analysis ◽  
Approximate Zero ◽  
Stiffness Variation ◽  
Stiffness Characteristics

Cross-Spring Flexural Pivot (CSFP) has some advantages compared with rigid bearing. However, this kind of flexural pivot is limited in the field of precision positioning due to its small motion stroke, large axis drift, and sensitivity to temperature, etc. In this paper, topology structures of the CSFP were analyzed through defining different geometric parameters λ, spring crossing angle α, and spring number N. Characteristics of stiffness, axis drift, maximum stress, and temperature drift were compared and summarized by the Finite Element Analysis (FEA). Ultimately, a class of flexural pivots, called Inner and Outer Ring Flexural Pivots (IORFP), were selected for their excellent comprehensive performances. This type of flexural pivots has some significant advantages, such as large stroke, approximate zero axis drift and no temperature drift. Finally, the stiffness characteristic of IORFP with different geometrical parameters λ was compared by FEA, and law of stiffness variation was obtained. When λ is 0.1273, the IORFP has linear stiffness characteristics.

scholarly journals A Closed-Form Model for the Support Stiffness of Spatial Flexure Strips With Limited Twist

2016 ◽  
Author(s):  
Marijn Nijenhuis ◽  
Dannis M. Brouwer
Keyword(s):  
Closed Form ◽  
Degrees Of Freedom ◽  
Practical Interest ◽  
Constrained Motion ◽  
Equilibrium Equations ◽  
Small Deflection ◽  
Stiffness Model ◽  
Form Model ◽  
Low Stiffness ◽  
Stiffness Characteristics

The stiffness characteristics of flexure strips in the constrained directions are an important attribute of their behavior when serving as a constituent of flexure mechanisms. The decrease in support stiffness that accompanies movement in the intended degrees of freedom limits the performance of mechanisms comprised of such strips. This paper presents a closed-form nonlinear model that describes the support stiffness in 3-D under arbitrary end-load for the elementary flexure strip. The formulation takes into account geometrical nonlinearities by means of finite strain relations and deformed-configuration equilibrium equations. By distinguishing the low-stiffness large-deflection motion (the degrees of freedom) from the high-stiffness small-deflection motion (the constrained motion) with the appropriate simplification of limited twist, a closed-form stiffness model is obtained for dimension and load ranges of practical interest.

scholarly journals Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Alexander Agboola-Dobson ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Variable Stiffness ◽  
Plane Motion ◽  
Biologically Inspired ◽  
Passive Rotation ◽  
Ground Conditions ◽  
Biologically Inspired Design

Recent advancements in powered lower limb prostheses have appeased several difficulties faced by lower limb amputees by using a series-elastic actuator (SEA) to provide powered sagittal plane flexion. Unfortunately, these devices are currently unable to provide both powered sagittal plane flexion and two degrees of freedom (2-DOF) at the ankle, removing the ankle’s capacity to invert/evert, thus severely limiting terrain adaption capabilities and user comfort. The developed 2-DOF ankle system in this paper allows both powered flexion in the sagittal plane and passive rotation in the frontal plane; an SEA emulates the biomechanics of the gastrocnemius and Achilles tendon for flexion while a novel universal-joint system provides the 2-DOF. Several studies were undertaken to thoroughly characterize the capabilities of the device. Under both level- and sloped-ground conditions, ankle torque and kinematic data were obtained by using force-plates and a motion capture system. The device was found to be fully capable of providing powered sagittal plane motion and torque very close to that of a biological ankle while simultaneously being able to adapt to sloped terrain by undergoing frontal plane motion, thus providing 2-DOF at the ankle. These findings demonstrate that the device presented in this paper poses radical improvements to powered prosthetic ankle-foot device (PAFD) design.

scholarly journals BIOMIMETIC DESIGN OF LOW STIFFNESS ACTUATOR SYSTEMS FOR PROSTHETIC LIMBS

2011 ◽  
Author(s):  
D. L. Russell ◽  
M. McTavish
Keyword(s):  
Mechanical Properties ◽  
Degrees Of Freedom ◽  
Analytical Techniques ◽  
Energetic Costs ◽  
Multiple Degrees Of Freedom ◽  
Prosthetic Limbs ◽  
Limb Stiffness ◽  
Human Arm ◽  
Biomimetic Approach ◽  
Low Stiffness

The various relationships that are possible between the mechanical properties of single actuators and the overall mechanism (in this case a human arm with or without a prosthetic elbow) are discussed. Graphical and analytical techniques for describing the range of overall limb stiffnesses that are achievable and for characterizing the overall limb stiffness have been developed. Using a biomimetic approach and, considering energetic costs, stability and complexity, the implications of choosing passive or active implementations of stiffness are discussed. These techniques and approaches are particularly applicable with redundant (agonist - antagonist) actuators and multiple degrees of freedom. Finally, a novel biomimetic approach for control is proposed.

An XYZ Parallel-Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom

2012 ◽  
Vol 5 (1) ◽  
Author(s):  
Shorya Awtar ◽  
John Ustick ◽  
Shiladitya Sen
Keyword(s):  
Degrees Of Freedom ◽  
Finite Elements Analysis ◽  
Motion Direction ◽  
Flexure Mechanism ◽  
Nonlinear Finite Elements ◽  
Decoupled Motion ◽  
Motion Range ◽  
Stiffness Variation ◽  
Parallel Kinematic ◽  
Cross Axis

A novel parallel-kinematic flexure mechanism that provides highly decoupled motions along the three translational directions (X, Y, and Z) and high stiffness along the three rotational directions (θx, θy, and θz) is presented. Geometric decoupling ensures large motion range along each translational direction and enables integration with large-stroke ground-mounted linear actuators or generators, depending on the application. The proposed design, which is based on a systematic arrangement of multiple rigid stages and parallelogram flexure modules, is analyzed via nonlinear finite elements analysis (FEA). A proof-of-concept prototype is fabricated to validate the predicted large range and decoupled motion capabilities. The analysis and the hardware prototype demonstrate an XYZ motion range of 10 mm × 10 mm × 10 mm. Over this motion range, the nonlinear FEA predicts cross-axis errors of less than 7.8%, parasitic rotations less than 10.8 mrad, less than 14.4% lost motion, actuator isolation better than 1.5%, and no perceptible motion direction stiffness variation.

Study of the Stiffness Matrix of Preloaded Duplex Angular Contact Ball Bearings

2018 ◽  
Vol 141 (3) ◽  
Author(s):  
Shengye Lin ◽  
Shuyun Jiang
Keyword(s):  
Stiffness Matrix ◽  
Degrees Of Freedom ◽  
Ball Bearing ◽  
Ball Bearings ◽  
Fixed Position ◽  
Angular Contact Ball Bearing ◽  
Face To Face ◽  
Radial Stiffness ◽  
Proposed Model ◽  
Stiffness Characteristics

This paper studies the stiffness characteristics of preloaded duplex angular contact ball bearings. First, a five degrees-of-freedom (5DOF) quasi-static model of the preloaded duplex angular contact ball bearing is established based on the Jones bearing model. Three bearing configurations (face-to-face, back-to-back, and tandem arrangements) and two preload mechanisms (constant pressure preload and fixed position preload) are included in the proposed model. Subsequently, the five-dimensional stiffness matrix of the preloaded duplex angular contact ball bearing is derived analytically. Then, an experimental setup is developed to measure the radial stiffness and the angular stiffness of duplex angular contact ball bearings. The simulated results match well with those from experiments, which prove the validity of the proposed model. Finally, the effects of bearing configuration, preload mechanism, and unloaded contact angle on the angular stiffness and the cross-coupling are studied systematically.

scholarly journals Multibody Kinematics Optimization for the Estimation of Upper and Lower Limb Human Joint Kinematics: A Systematized Methodological Review

2018 ◽  
Vol 140 (3) ◽  
Author(s):  
Mickaël Begon ◽  
Michael Skipper Andersen ◽  
Raphaël Dumas
Keyword(s):  
Degrees Of Freedom ◽  
Inertial Sensors ◽  
Model Development ◽  
Simulated Data ◽  
Ground Truth ◽  
Joint Kinematics ◽  
Sensitivity Analyses ◽  
Geometrical Parameters ◽  
Joint Models ◽  
Human Joint

Multibody kinematics optimization (MKO) aims to reduce soft tissue artefact (STA) and is a key step in musculoskeletal modeling. The objective of this review was to identify the numerical methods, their validation and performance for the estimation of the human joint kinematics using MKO. Seventy-four papers were extracted from a systematized search in five databases and cross-referencing. Model-derived kinematics were obtained using either constrained optimization or Kalman filtering to minimize the difference between measured (i.e., by skin markers, electromagnetic or inertial sensors) and model-derived positions and/or orientations. While hinge, universal, and spherical joints prevail, advanced models (e.g., parallel and four-bar mechanisms, elastic joint) have been introduced, mainly for the knee and shoulder joints. Models and methods were evaluated using: (i) simulated data based, however, on oversimplified STA and joint models; (ii) reconstruction residual errors, ranging from 4 mm to 40 mm; (iii) sensitivity analyses which highlighted the effect (up to 36 deg and 12 mm) of model geometrical parameters, joint models, and computational methods; (iv) comparison with other approaches (i.e., single body kinematics optimization and nonoptimized kinematics); (v) repeatability studies that showed low intra- and inter-observer variability; and (vi) validation against ground-truth bone kinematics (with errors between 1 deg and 22 deg for tibiofemoral rotations and between 3 deg and 10 deg for glenohumeral rotations). Moreover, MKO was applied to various movements (e.g., walking, running, arm elevation). Additional validations, especially for the upper limb, should be undertaken and we recommend a more systematic approach for the evaluation of MKO. In addition, further model development, scaling, and personalization methods are required to better estimate the secondary degrees-of-freedom (DoF).

scholarly journals Fully-Printable Soft Actuator with Variable Stiffness by Phase Transition and Hydraulic Regulations

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 269
Author(s):  
Tingchen Liao ◽  
Manivannan Sivaperuman Kalairaj ◽  
Catherine Jiayi Cai ◽  
Zion Tsz Ho Tse ◽  
Hongliang Ren
Keyword(s):  
Transition Period ◽  
Shape Memory Polymer ◽  
Variable Stiffness ◽  
Pressure Variation ◽  
Soft Actuator ◽  
Output Force ◽  
Load Carrying ◽  
Force Variation ◽  
Stiffness Variation ◽  
Short Transition

Actuators with variable stiffness have vast potential in the field of compliant robotics. Morphological shape changes in the actuators are possible, while they retain their structural strength. They can shift between a rigid load-carrying state and a soft flexible state in a short transition period. This work presents a hydraulically actuated soft actuator fabricated by a fully 3D printing of shape memory polymer (SMP). The actuator shows a stiffness of 519 mN/mm at 20 ∘C and 45 mN/mm at 50 ∘C at the same pressure (0.2 MPa). This actuator demonstrates a high stiffness variation of 474 mN/mm (10 times the baseline stiffness) for a temperature change of 30 ∘C and a large variation (≈1150%) in average stiffness. A combined variation of both temperature (20–50 ∘C) and pressure (0–0.2 MPa) displays a stiffness variation of 501 mN/mm. The pressure variation (0–0.2 MPa) in the actuator also shows a large variation in the output force (1.46 N) at 50 ∘C compared to the output force variation (0.16 N) at 20 ∘C. The pressure variation is further utilized for bending the actuator. Varying the pressure (0–0.2 MPa) at 20 ∘C displayed no bending in the actuator. In contrast, the same variation of pressure at 50 ∘C displayed a bending angle of 80∘. A combined variation of both temperature (20–50 ∘C) and pressure (0–0.2 MPa) shows the ability to bend 80∘. At the same time, an additional weight (300 g) suspended to the actuator could increase its bending capability to 160∘. We demonstrated a soft robotic gripper varying its stiffness to carry objects (≈100 g) using two individual actuators.

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