Low-cost variable stiffness joint design using translational variable radius pulleys

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dc.contributor.authorYiğit, Cihat Bora
dc.contributor.authorBayraktar, Ertuğrul
dc.contributor.authorBoyraz, Pınar
dc.date.accessioned2020-04-30T23:19:01Z
dc.date.available2020-04-30T23:19:01Z
dc.date.issued2018
dc.departmentDÜ, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.descriptionBoyraz, Pinar/0000-0002-3665-1775; Bayraktar, Ertugrul/0000-0002-7387-4783en_US
dc.descriptionWOS: 000449287200012en_US
dc.description.abstractRobot joints are expected to be safe, compliant, compact, simple and low-cost. Gravity compensation, zero backlash, energy efficiency and stiffness adjustability are some desired features in the robotic joints. The variable radius pulleys (VRPs) provide a simple, compact and low-cost solution to the stiffness adjustment problem. VRP mechanisms maintain a preconfigured nonlinear force-elongation curve utilizing off-the-shelf torsional spring and pulley profile. In this paper, three synthesis algorithms are presented for VRP mechanisms to obtain desired force-elongation curve. In addition, a feasibility condition is proposed to determine the torsional spring coefficient. Using the synthesis methods and the feasibility condition, a variable stiffness mechanism is designed and manufactured which uses two VRPs in an antagonistic cable driven structure. Afterwards, the outputs of three synthesis methods are compared to force-elongation characteristics in the tensile testing experiment. A custom testbed is manufactured to measure the pulley rotation, cable elongation and tensile force at the same time. Using the experiment as the baseline, the best algorithm achieved to reproduce the desired curve with a root-mean-square (RMS) error of 13.3%. Furthermore, VRP-VSJ is implemented with a linear controller to reveal the performance of the mechanism in terms of position accuracy and stiffness adjustability. (C) 2018 Elsevier Ltd. All rights reserved.en_US
dc.identifier.doi10.1016/j.mechmachtheory.2018.08.006en_US
dc.identifier.endpage219en_US
dc.identifier.issn0094-114X
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage203en_US
dc.identifier.urihttps://doi.org/10.1016/j.mechmachtheory.2018.08.006
dc.identifier.urihttps://hdl.handle.net/20.500.12684/3617
dc.identifier.volume130en_US
dc.identifier.wosWOS:000449287200012en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherPergamon-Elsevier Science Ltden_US
dc.relation.ispartofMechanism And Machine Theoryen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectVariable stiffness jointen_US
dc.subjectMechanism synthesizingen_US
dc.subjectNonlinear optimizationen_US
dc.subjectTranslational variable radius pulleyen_US
dc.titleLow-cost variable stiffness joint design using translational variable radius pulleysen_US
dc.typeArticleen_US

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