Design of a bioinspired tunable stiffness robotic foot

Qaiser, Zeeshan; Kang, Liping; Johnson, Shane A.

doi:10.1016/j.mechmachtheory.2016.12.003

Cited by 26 publications

(11 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The remaining coils of the inner spring above the rigid piece are still active and connected to the parallel springs in a series configuration. The 25 analytical model of the TSM described in Figure 1(b) can be used to calculate the total stiffness of the TSM:…”

Section: Review Of the Concentric Spring Based Tsmmentioning

confidence: 99%

A novel semi-active tuned mass damper with a continuously tunable stiffness

Zhang

Hong

Dhupia

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

A passive tuned mass damper can only be designed to have a good damping effect near the resonance frequency of the primary structure. To overcome this limitation, a novel semi-active tuned mass damper with continuously tunable stiffness is proposed in this paper. The proposed design features a compact mechanism that can vary its stiffness by changing the number of active coils in parallel and series configurations of helical springs. The real-time control of the stiffness is achieved by designing and implementing a driving system for this mechanism. The motion characteristics and required driving torque for the designed prototype are also examined during the stiffness tuning process. It is demonstrated that the novel semi-active tuned mass damper can tune its stiffness over a wide range, and consequently tune its working frequency band to a desirable region with a proper control law. The effectiveness of the proposed prototype was investigated numerically and experimentally with respect to one-degree-of-freedom harmonic excitations in the frequency ratio range of 0.8–1.2. The results indicate that the prototype preserves optimal vibration suppression performance across a broad frequency range. Thus, the proposed semi-active tuned mass damper can provide a simple and effective in-situ tunable tool for suppressing primary structure vibration in the presence of non-stationary vibratory excitations.

show abstract

Section: Review Of the Concentric Spring Based Tsmmentioning

confidence: 99%

A novel semi-active tuned mass damper with a continuously tunable stiffness

Zhang

Hong

Dhupia

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

show abstract

“…This is a comparatively unfeasible arrangement and the clutching mechanism will add undesirable weight to the robot. Alternatively, stiffness control through other means can also be achieved [35], [36] and [37].…”

Section: Figure 2 Felis -A Planar Reconfigurable Quadruped Robotmentioning

confidence: 99%

Proximal Actuation of an Elastically Loaded Scissors Mechanism for the Leg Design of a Quadruped Robot

et al. 2020

View full text Add to dashboard Cite

“…Based on this, MACCEPA tunes the spring pretension through a ball screw mechanism [10], [11]. Another way is to change the effective turns of a linear spring or adjust the angle between the spring deflection direction and the main driving force direction [12], [13]. By adopting a special cam mechanism to regulate the spring balance position, the actuator becomes more compact [14].…”

Section: Introductionmentioning

confidence: 99%