@inproceedings{e89f3f0aa1c44795b35961ba5322f232,
title = "Characteristic Analysis of a Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train",
abstract = "This paper presents the characteristic analysis and mechanical realization of a novel variable stiffness actuator based on a rocker-linked epicyclic gear train (REGT-VSA). The stiffness adjustment of the actuator works by converting the differential motion of the planetary gear train into the linear motion of the elastic element. The unique design of the rocker-linked epicyclic gear train ensures excellent compactness and easy controllability, which enables the actuator to be qualified for constructing a manipulator toward cooperation applications. However, the output position and stiffness of the actuator may be affected by the mechanism clearance. The paper introduces characteristic analysis of stiffness and clearance, and carries out a series of related simulations. The analysis results can provide guidelines for the high-quality assembly of lever-based VSA.",
keywords = "Clearance analysis, Epicyclic gear train, Variable stiffness actuator",
author = "Zhisen Li and Hailin Huang and Peng Xu and Yinghao Ning and Bing Li",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",
year = "2022",
doi = "10.1007/978-3-031-13822-5\_19",
language = "英语",
isbn = "9783031138218",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "210--221",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "德国",
}