한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권12호
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  • Pages.1049-1054
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  • 2015
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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가변강성 액추에이터의 원리에 대한 비교 실험 연구

Experimental Study on Different Principles of Variable Stiffness Actuators

  • 백규열 (영남대학교 기계공학부) ;
  • 김현규 (영남대학교 기계공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Baek, Kyu Yeol (School of Mechanical Engineering, Yeungnam University) ;
  • Kim, HyunGyu (School of Mechanical Engineering, Yeungnam University) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
  • 투고 : 2015.01.05
  • 심사 : 2015.08.13
  • 발행 : 2015.12.01
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초록

Nowadays, there are many researches involving structural actuators, which have adjustable stiffness; they are also called variable stiffness actuators (VSA). The VSAs can adjust the characteristics of actuators for various functions and human-machine safety. This paper describes the design and analysis of two types of VSAs. To adjust stiffness, the actuators are controlled by a principle of lever ratio mechanism, by changing a pivot position or a spring position in the structure with springs. To make the principle workable, the designs are simplified by using a ball screw system with a motor. Each structure shows different static properties with variable rates of stiffness. We have also shown the experimental verification of the dynamic performance of the two types of VSAs. This research can be applied to various industrial fields, where humans work in conjunction with robots.

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참고문헌

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