Chinese Journal of Mechanical Engineering >

2020 , Vol. 33 >Issue 5: 75 - 75

DOI: https://doi.org/10.1186/s10033-020-00490-y

A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

  • Zhuang Zhang ,
  • Genliang Chen ,
  • Weicheng Fan ,
  • Wei Yan ,
  • Lingyu Kong ,
  • Hao Wang
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  • 1. Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China;
    2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China;
    3. Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, 311100, China

收稿日期: 2020-01-31

  修回日期: 2020-09-03

  网络出版日期: 2021-01-14

基金资助

Supported in part by National Key Research and Development Program of China (Grant No. 2017YFE0111300), National Natural Science Foundation of China (Grant No. 51875334), and State Key Lab of Digital Manufacturing Equipment and Technology (Huazhong University of Science and Technology) (Grant No. DMETKF2019007)

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A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

  • Zhuang Zhang ,
  • Genliang Chen ,
  • Weicheng Fan ,
  • Wei Yan ,
  • Lingyu Kong ,
  • Hao Wang
Expand
  • 1. Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China;
    2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China;
    3. Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, 311100, China

Received date: 2020-01-31

  Revised date: 2020-09-03

  Online published: 2021-01-14

Supported by

Supported in part by National Key Research and Development Program of China (Grant No. 2017YFE0111300), National Natural Science Foundation of China (Grant No. 51875334), and State Key Lab of Digital Manufacturing Equipment and Technology (Huazhong University of Science and Technology) (Grant No. DMETKF2019007)

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摘要

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.

关键词： Variable stiffness; Passive compliance device; Reconfigurable skeleton; Origami shell

本文引用格式

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[J]. Chinese Journal of Mechanical Engineering, 2020 , 33(5) : 75 -75 . DOI: 10.1186/s10033-020-00490-y

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.

Key words： Variable stiffness; Passive compliance device; Reconfigurable skeleton; Origami shell

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