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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lim, W.B. Yeo, S.H. Yang, G. Chen, I.-M. |
| Copyright Year | 2013 |
| Description | Author affiliation: Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore, Singapore (Lim, W.B.; Yeo, S.H.; Chen, I.-M.) || Mechatron. Group, Singapore Inst. of Manuf. Technol., Singapore, Singapore (Yang, G.) |
| Abstract | A manipulator with variable stiffness allows the manipulator to adjust its stiffness to fulfill different task requirements. In this paper, a cable-driven manipulator with the ability to significantly regulate its stiffness through tension manipulation is introduced. Variable stiffness is achieved by attaching a novel variable stiffness device along each driving cable, in which the stiffness of the device is a function the cable tension. As cable-driven manipulator has actuation redundancy, the tension distribution can be manipulated even at a stationary pose. Such property allows the cable-driven manipulator to adjust the stiffness of each variable stiffness device, thereby changing the stiffness of the manipulator. The design and analysis of the variable stiffness device is presented. The variable stiffness device uses commercial torsion springs, and has a compact and light-weight design. Experimental and simulation results verified that cable-driven manipulator with such variable stiffness devices is able to achieve significant stiffness regulation. |
| Starting Page | 4519 |
| Ending Page | 4524 |
| File Size | 1162782 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6631219 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Springs Manipulators Power cables Vectors Shafts Prototypes Force Stiffness analysis Variable stiffness Cable-driven manipulator |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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