A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell
Abstract Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on the design, analysis and experiments of a stiffness variable passive compliant dev...
Main Authors: | , , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
SpringerOpen
2020-11-01
|
Series: | Chinese Journal of Mechanical Engineering |
Subjects: | |
Online Access: | http://link.springer.com/article/10.1186/s10033-020-00490-y |
id |
doaj-fb67f1111fde456fb0bb4ab70265fcfd |
---|---|
record_format |
Article |
spelling |
doaj-fb67f1111fde456fb0bb4ab70265fcfd2020-11-25T04:08:38ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582020-11-0133111310.1186/s10033-020-00490-yA Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami ShellZhuang Zhang0Genliang Chen1Weicheng Fan2Wei Yan3Lingyu Kong4Hao Wang5Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong UniversityShanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong UniversityShanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong UniversityShanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong UniversityIntelligent Robot Research Center, Zhejiang LabShanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong UniversityAbstract Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on the design, analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell. The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal. The stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast, simple and straightforward manner. The kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links. A prototype is fabricated to conduct experiments for the assessment of the proposed concept. The results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms.http://link.springer.com/article/10.1186/s10033-020-00490-yVariable stiffnessPassive compliance deviceReconfigurable skeletonOrigami shell |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Zhuang Zhang Genliang Chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang |
spellingShingle |
Zhuang Zhang Genliang Chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell Chinese Journal of Mechanical Engineering Variable stiffness Passive compliance device Reconfigurable skeleton Origami shell |
author_facet |
Zhuang Zhang Genliang Chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang |
author_sort |
Zhuang Zhang |
title |
A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell |
title_short |
A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell |
title_full |
A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell |
title_fullStr |
A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell |
title_full_unstemmed |
A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell |
title_sort |
stiffness variable passive compliance device with reconfigurable elastic inner skeleton and origami shell |
publisher |
SpringerOpen |
series |
Chinese Journal of Mechanical Engineering |
issn |
1000-9345 2192-8258 |
publishDate |
2020-11-01 |
description |
Abstract Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on the design, analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell. The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal. The stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast, simple and straightforward manner. The kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links. A prototype is fabricated to conduct experiments for the assessment of the proposed concept. The results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms. |
topic |
Variable stiffness Passive compliance device Reconfigurable skeleton Origami shell |
url |
http://link.springer.com/article/10.1186/s10033-020-00490-y |
work_keys_str_mv |
AT zhuangzhang astiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT genliangchen astiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT weichengfan astiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT weiyan astiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT lingyukong astiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT haowang astiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT zhuangzhang stiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT genliangchen stiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT weichengfan stiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT weiyan stiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT lingyukong stiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell AT haowang stiffnessvariablepassivecompliancedevicewithreconfigurableelasticinnerskeletonandorigamishell |
_version_ |
1724424778228432896 |