A novel revolute joint of variable stiffness with reconfigurability

Zhongyi Li, Shaoping Bai

Research output: Contribution to journalJournal articleResearchpeer-review

22 Citations (Scopus)

Abstract

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.

Original languageEnglish
JournalMechanism and Machine Theory
Volume133
Pages (from-to)720-736
Number of pages17
ISSN0094-114X
DOIs
Publication statusPublished - Mar 2019

Keywords

  • Exoskeletons
  • Multi-mode stiffness variation
  • Reconfigurable mechanism
  • Variable stiffness mechanism

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