Analysis and synthesis of LinWWC-VSA, a Variable Stiffness Actuator for linear motion

详细信息    查看全文

• 作者：G. Spagnuolo^a ; ^b ; ¹ ; M. Malosio^a ; ¹ ; ^{matteo.malosio@itia.cnr.it} ; T. Dinon^a ; L. Molinari Tosatti^a ; G. Legnani^a ; ^b
• 关键词：Variable Stiffness Actuator ; Linear motion ; Spiral cam ; Logarithmic spiral
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：110
• 期：Complete
• 页码：85-99
• 全文大小：2038 K
• 卷排序：110

文摘

The concept design of a variable stiffness actuator for linear motion is proposed. The mechanism exploits a wire-based mechanical transmission and spiral-shaped cams. The equations to analyze the mechanism are presented. Two synthesis methods, one analytic and one numerical, are explained are simulation results are reported. Examples of use in real prototypes are illustrated.