Design and Analysis of a Linear Digital Variable Stiffness Actuator
نویسندگان
چکیده
In this paper, a novel variable stiffness mechanism (VSM) based on specially designed S-springs made from shape memory alloy (SMA) is developed. Based the model, by changing state combination of SMA with different thicknesses, actuator's can be discretely adjusted online. The adjustment range actuator conveniently extended almost 0 N/m to infinity preset spring angle manually offline without complex mechanical or replacing any parts. A linear digital (LDVSA) also VSM. Some tests S-springs, as well under configurations, comparisons other actuators and its trajectory tracking capacity are conducted verify design. Then, dynamic model established bandwidth analysed. this, explosive experiments performed explore application potential actuator. Experimental results provided illustrate energy efficiency proposed
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3050786