TY - GEN
T1 - Sensitivity Analysis of Structural Clearances on the Performance of a Lever-Based Variable Stiffness Actuator
AU - Ning, Yinghao
AU - Li, Zhisen
AU - Yu, Zhiguang
AU - Li, Bing
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Variable stiffness actuator (VSA) can perform a safely environment-robot interaction on the basis of its inherent compliance and adjustable stiffness. However, its performance of stiffness and position could be notably affected by the structural clearances existing within the stiffness regulation mechanism. In this paper, the effects of structural clearances within the stiffness regulation mechanism on the performances of stiffness and position are studied, and several guidelines for the manufacture of lever-based VSA are achieved. The structural clearances between the rollers and cam-based profiles are analyzed and several simulations are carried out to evaluate its effects on the performance of stiffness. Then the effects of structural clearances within the lever mechanism on the position accuracy are studied in detail. The results indicate that, the clearances existing within the parts involving the movement of pivot should be paid much more attention to when pursuing better accuracies of stiffness and joint position.
AB - Variable stiffness actuator (VSA) can perform a safely environment-robot interaction on the basis of its inherent compliance and adjustable stiffness. However, its performance of stiffness and position could be notably affected by the structural clearances existing within the stiffness regulation mechanism. In this paper, the effects of structural clearances within the stiffness regulation mechanism on the performances of stiffness and position are studied, and several guidelines for the manufacture of lever-based VSA are achieved. The structural clearances between the rollers and cam-based profiles are analyzed and several simulations are carried out to evaluate its effects on the performance of stiffness. Then the effects of structural clearances within the lever mechanism on the position accuracy are studied in detail. The results indicate that, the clearances existing within the parts involving the movement of pivot should be paid much more attention to when pursuing better accuracies of stiffness and joint position.
KW - sensitivity analysis
KW - structural clearance
KW - variable stiffness actuator
UR - https://www.scopus.com/pages/publications/85136247203
U2 - 10.1109/ICRAS55217.2022.9842020
DO - 10.1109/ICRAS55217.2022.9842020
M3 - 会议稿件
AN - SCOPUS:85136247203
T3 - 2022 6th International Conference on Robotics and Automation Sciences, ICRAS 2022
SP - 190
EP - 195
BT - 2022 6th International Conference on Robotics and Automation Sciences, ICRAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics and Automation Sciences, ICRAS 2022
Y2 - 9 June 2022 through 11 June 2022
ER -