Development of a Variable Stiffness Function for a New Multifunctional Wire Driven Joint Mechanism

DOI
  • Suzuki Katsuaki
    Life Science and Systems Engineering, Kyushu Institute of Technology
  • Nishida Yuya
    Life Science and Systems Engineering, Kyushu Institute of Technology
  • Ishii Kazuo
    Life Science and Systems Engineering, Kyushu Institute of Technology

説明

A mechanical variable stiffness can adapt to external forces beyond the control cycle, such as overturning of walking robots, which can help solve problems such as actuator and joint destruction. In this research, we will clarify the structure of a two-input, one-output joint mechanism that can realize three functions: normal motion, instantaneous motion, and variable stiffness function. As part of the development of the variable stiffness function, a mathematical model is derived and simulated for the relationship between the joint angle of the output link and the disturbance torque when a disturbance torque is applied to the output link of the proposed mechanism.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390859758187740288
  • DOI
    10.5954/icarob.2023.os21-6
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

問題の指摘

ページトップへ