Design and Analysis of a Biphasic Variable Impedance Actuator

摘要：

Variable impedance actuators guarantee control performance for robots and robotic peripherals that are inherently safe to humans in their environment especially in cooperative tasks involving human-robot interaction. This paper presents a concept of variable impedance actuator using a combination of fluid and gas to realize the adaptation of the impedance. For this actuator, the ranges of variation of the impedance are studied with different initial conditions and positions of the piston in the actuator;The dynamic response characteristic is analyzed in presence of a variable external load. A method of control of the actuator is proposed and the performance shown while performing a testing cycle.

关键词： Variable impedance actuation Biphasic fluid

作者: Bo Han Matteo Zoppi Rezia Molfino

作者单位: PMAR Robotics, University of Genoa, Genoa, Italy

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 841-849

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）