TY - JOUR
T1 - A novel revolute joint of variable stiffness with reconfigurability
AU - Li, Zhongyi
AU - Bai, Shaoping
PY - 2019/3
Y1 - 2019/3
N2 - In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is presented. The JVSR is designed with a compliant joint mechanism, and is able to vary widely its stiffness in multiple modes, namely, linear, hardening and softening modes. This brings the joint for many potential applications in novel transmission and robotics. In the paper, mathematical models of joint stiffness are developed for the JVSR, with which influences of design parameters are analyzed. A prototype of JVSR is constructed and preliminary test results validate the model. A design case is included to illustrate the application of the JVSR in exoskeletons.
AB - In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is presented. The JVSR is designed with a compliant joint mechanism, and is able to vary widely its stiffness in multiple modes, namely, linear, hardening and softening modes. This brings the joint for many potential applications in novel transmission and robotics. In the paper, mathematical models of joint stiffness are developed for the JVSR, with which influences of design parameters are analyzed. A prototype of JVSR is constructed and preliminary test results validate the model. A design case is included to illustrate the application of the JVSR in exoskeletons.
KW - Exoskeletons
KW - Multi-mode stiffness variation
KW - Reconfigurable mechanism
KW - Variable stiffness mechanism
UR - http://www.scopus.com/inward/record.url?scp=85058698772&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2018.12.011
DO - 10.1016/j.mechmachtheory.2018.12.011
M3 - Journal article
SN - 0094-114X
VL - 133
SP - 720
EP - 736
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
ER -