A Novel Reconfigurable Revolute Joint with Adjustable Stiffness

Zhongyi Li, Weihai Chen, Shaoping Bai

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

6 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
Number of pages6
PublisherIEEE
Publication dateMay 2019
Pages8388-8393
Article number8793906
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - May 2019
Event2019 International Conference on Robotics and Automation - Palais des Congres de Montreal, Montreal, Canada
Duration: 20 May 201924 May 2019
https://www.icra2019.org/

Conference

Conference2019 International Conference on Robotics and Automation
LocationPalais des Congres de Montreal
CountryCanada
CityMontreal
Period20/05/201924/05/2019
Internet address
SeriesI E E E International Conference on Robotics and Automation
ISSN2152-4092

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