A Novel Reconfigurable Revolute Joint with Adjustable Stiffness

Zhongyi Li, Weihai Chen, Shaoping Bai

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

1 Citation (Scopus)

Resumé

In this paper, a novel revolute joint of adjustable stiffness with reconfigurability (JASR) is presented. The JASR is designed with zero-length base link four-bar linkage, and allows adjusting its stiffness to achieve soft-and hard-spring behaviour. The new joint has a compact and light-weight structure and can be integrated in robot and transmissions for different applications. In the paper, mathematical models are developed for the JASR, with which influences of design parameters on stiffness performance are analyzed. A prototype of JASR is constructed and preliminary test results demonstrate the compliance properties of the new joint.

OriginalsprogEngelsk
Titel2019 International Conference on Robotics and Automation, ICRA 2019
Antal sider6
ForlagIEEE
Publikationsdatomaj 2019
Sider8388-8393
Artikelnummer8793906
ISBN (Elektronisk)9781538660263
DOI
StatusUdgivet - maj 2019
NavnI E E E International Conference on Robotics and Automation
ISSN2152-4092

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Stiffness
Light weight structures
Robots
Mathematical models

Citer dette

Li, Z., Chen, W., & Bai, S. (2019). A Novel Reconfigurable Revolute Joint with Adjustable Stiffness. I 2019 International Conference on Robotics and Automation, ICRA 2019 (s. 8388-8393). [8793906] IEEE. I E E E International Conference on Robotics and Automation https://doi.org/10.1109/ICRA.2019.8793906
Li, Zhongyi ; Chen, Weihai ; Bai, Shaoping. / A Novel Reconfigurable Revolute Joint with Adjustable Stiffness. 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE, 2019. s. 8388-8393 (I E E E International Conference on Robotics and Automation).
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title = "A Novel Reconfigurable Revolute Joint with Adjustable Stiffness",
abstract = "In this paper, a novel revolute joint of adjustable stiffness with reconfigurability (JASR) is presented. The JASR is designed with zero-length base link four-bar linkage, and allows adjusting its stiffness to achieve soft-and hard-spring behaviour. The new joint has a compact and light-weight structure and can be integrated in robot and transmissions for different applications. In the paper, mathematical models are developed for the JASR, with which influences of design parameters on stiffness performance are analyzed. A prototype of JASR is constructed and preliminary test results demonstrate the compliance properties of the new joint.",
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Li, Z, Chen, W & Bai, S 2019, A Novel Reconfigurable Revolute Joint with Adjustable Stiffness. i 2019 International Conference on Robotics and Automation, ICRA 2019., 8793906, IEEE, I E E E International Conference on Robotics and Automation, s. 8388-8393. https://doi.org/10.1109/ICRA.2019.8793906

A Novel Reconfigurable Revolute Joint with Adjustable Stiffness. / Li, Zhongyi; Chen, Weihai; Bai, Shaoping.

2019 International Conference on Robotics and Automation, ICRA 2019. IEEE, 2019. s. 8388-8393 8793906 (I E E E International Conference on Robotics and Automation).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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AB - In this paper, a novel revolute joint of adjustable stiffness with reconfigurability (JASR) is presented. The JASR is designed with zero-length base link four-bar linkage, and allows adjusting its stiffness to achieve soft-and hard-spring behaviour. The new joint has a compact and light-weight structure and can be integrated in robot and transmissions for different applications. In the paper, mathematical models are developed for the JASR, with which influences of design parameters on stiffness performance are analyzed. A prototype of JASR is constructed and preliminary test results demonstrate the compliance properties of the new joint.

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Li Z, Chen W, Bai S. A Novel Reconfigurable Revolute Joint with Adjustable Stiffness. I 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. 2019. s. 8388-8393. 8793906. (I E E E International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793906