Year: 2024
Type: article
Abstract: In various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an important capability. Various means have been developed in recent years to achieve this, notable among them the so-called variable lever devices. In this paper, we present a new variable lever mechanism based on a gear–rack pair. This unique design combines the functionality of the lever itself with that of the stiffness-adjustment transmission. We show through simulations and hardware experiments the relatively large resulting range of achievable stiffness adjustment and efficient operation.
Source: Machines
Authors: Carl Nelson, Kasey Moomau, Yucheng Li
Institution: University of Nebraska–Lincoln
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,728
OpenAlex ID: W4405782182