2021年7月
Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle
IEEE ROBOTICS AND AUTOMATION LETTERS
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- 巻
- 6
- 号
- 3
- 開始ページ
- 4576
- 終了ページ
- 4583
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1109/LRA.2021.3060383
- 出版者・発行元
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
The force required to drive a mechanism can be compensated by adding an equivalent load in the opposite direction. By reversing the input and output of the load compensation, we proposed the concept of a displacement-force converter that enables the deformation of the elastic element to be controlled steplessly by a minimal external force. Its principle was proved in our previous study, but challenges arose owing to the use of a wire and pulley. Here, we introduce a new compensation method using a noncircular cam that generates a compensation torque due to the contact force from the follower, which is split in the tangential direction of the cam by the pressure angle varying at rotation. Using a prototype for proof of concept, the maximum control force required for the extension of the spring was successfully reduced by 23.2%. Furthermore, uniform forces were obtained between extension and compression so that the difference between them decreased from 543% to 49% relative to compression. Thus, actuators and current supplies requiring less power could be selected. Moreover, the prototype model was incorporated into a variable stiffness mechanism of a soft robotic gripper as a wire tensioner to show the expandability of the displacement-force converter.
- リンク情報
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- DOI
- https://doi.org/10.1109/LRA.2021.3060383
- DBLP
- https://dblp.uni-trier.de/rec/journals/ral/ShimizuTWTKT21
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000640765600020&DestApp=WOS_CPL
- URL
- https://dblp.uni-trier.de/db/journals/ral/ral6.html#ShimizuTWTKT21
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85101750791&origin=inward
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85101750791&origin=inward
- ID情報
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- DOI : 10.1109/LRA.2021.3060383
- ISSN : 2377-3766
- eISSN : 2377-3766
- DBLP ID : journals/ral/ShimizuTWTKT21
- ORCIDのPut Code : 92096948
- SCOPUS ID : 85101750791
- Web of Science ID : WOS:000640765600020