期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 33, 期 6, 页码 1508-1515出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2719049
关键词
Computational design; optimization-based design; variable stiffness
类别
资金
- SUTD-MIT International Design Center at the Singapore University of Technology and Design as a part of the Energy-Efficient Compliant Actuator Designs Project [IDG31400108]
Compliant actuators enabling low-power stiffness adaptation aremissing ingredients and key enablers of next generation robotic systems. One of the key components of these actuators is the mechanism implementing stiffness adaptation that requires sophisticated control and nontrivial mechanical design. However, despite recent advances in controlling these systems, their design remains experience based and not well understood. In this paper, we present an optimization-based computational framework for the design of intrinsically low-power compliant variable stiffness mechanisms. The core ingredient of this framework is the mathematical formulation of the design problem-provided by a constrained nonlinear parameter optimization-which is computationally solved here to identify optimal variable stiffness designs. We show the basic capability of this formulation in finding parameters for variable stiffness mechanisms that require the least power by design. Further, we demonstrate the generality of this method in cross-comparing mechanisms with different kinematic topology to identify the one that requires the least power by design.
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