Synthesis of actively adjustable springs by antagonistic redundant actuation
Abstract
A methodology for active spring generation is presented based on antagonistic redundant actuation. Antagonistic properties are characterized using an effective system stiffness. 'Antagonistic stiffness' is generated by preloading a closed-chain (parallel) linkage system. Internal load distribution is investigated along with the necessary conditions for spring synthesis. The performance and stability of a proposed active spring are shown by simulation, and applications are discussed.
- Publication:
-
ASME Journal of Dynamic Systems and Measurement Control B
- Pub Date:
- September 1992
- Bibcode:
- 1992ATJDS.114..454Y
- Keywords:
-
- Active Control;
- Actuators;
- Springs (Elastic);
- Telerobotics;
- Feedback Control;
- Feedforward Control;
- Inverse Kinematics;
- Redundancy;
- Robot Control;
- Mechanical Engineering