Abstract
Background: The variable stiffness joint (VSJ) is a kind of inherent flexible actuator with independent controllable position and stiffness. Among various types of VSJs, the VSJs based on equivalent lever mechanisms and relying on changing the position of the lever pivot to adjust the transmission rate between input and output have the characteristic of low energy consumption for stiffness adjustment. Therefore, many patents have been applied for this type of VSJ. As the structural design of VSJs is an open research field, it is necessary and meaningful to explore novel structural designs of VSJs based on equivalent lever mechanisms.
Objective: The purpose of this article is to design a variable stiffness joint that changes the joint stiffness by adjusting the position of the lever pivot.
Methods: By referring and combining existing mechanical design ideas of some series configuration VSJs with good stiffness adjustment mechanism schemes, a novel series configuration VSJ based on an equivalent lever mechanism and relying on adjusting the position of the lever pivot to change joint stiffness has been implemented through CAD drawing, 3D printing, and assembly.
Results: Due to the wide movable range of the lever pivot, the designed VSJ has a wide adjustable range of stiffness. Moreover, assembly design and modular design have been achieved in terms of elastic output and power transmission, for easy installation and maintenance. The movability and stiffness adjustability of the designed VSJ were preliminarily verified through manual adjustment.
Conclusion: The assembly model of the VSJ demonstrates the feasibility of structural design. The stiffness adjustment experiment showed the variable stiffness ability of the designed VSJ.
Keywords: Variable stiffness joint, series configuration, stiffness adjustment mechanism, mechanical structure design, planetary gear train, modular elastic element.
Call for Papers in Thematic Issues
Advances in Micromanufacturing Processes.
This special issue welcomes original high-quality research papers in the areas of traditional and advanced Micromanufacturing Science and Technology. To name some of the areas but not limited to, are as follows: Micromachining, Nanofinishing, Microjoining, Microforming, Microforging, Microcasting, Additive microfabrication, High aspect ratio fabrication, Lithography, LIGA, Micro- / nano-metrology, Micro ...read more
Bio-inspired Optoelectronics for Solar Energy Conversion
The development and manufacture of micro/nanostructures on optoelectronic materials and protection layers to provide a range of capabilities have been made possible by bio-inspiration and advancements in nanomanufacturing methods. These designed surfaces may be employed in both conventional rigid structures and the new flexible variants in numerous optoelectronic devices, including ...read more
Data-Driven Optimization of Manufacturing Processes using Machine Learning and Data Visualization
This special issue explores the transformative impact of data-driven optimization in the aerospace sector and manufacturing process, where complex, multipurpose challenges arise. As manufacturing digitizes, modest and medium-sized businesses encounter issues such as lack of expertise, funding, and varied, opaque data formats. Machine learning and big data methodologies offer solutions ...read more
Digital Twins in Industrial Networks for Predictive Maintenance Using Neural Networks
Predictive maintenance, supported by digital twins, enhances industry profitability, safety, and sustainability. Digital twins—accurate digital replicas of physical systems—provide real-time data for predicting asset wear and ensuring efficient maintenance. Integrating IoT enables seamless communication between digital and physical systems, enhancing predictive capabilities. Digital twins aid in preventing service erosion and ...read more
Related Books
Advanced Characterization Technologies for Secondary Batteries
Design and Construction of Buildings and Foundations with Illustrative Examples
Robotics and Automation in Industry 4.0
Biomedical Applications of Perovskites: The Era of Bio-Piezoelectric Systems
Smart Kinematics For Modern Engineering Students
Computational Modeling and Simulation in Biomedical Research
Introduction to Advanced Soft Robotics
Intelligent Technologies for Research and Engineering
The Production of Biodiesel and Related Fuel Additives
Intelligent Technologies for Research and Engineering
