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A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies

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dc.contributor.author Secord, Thomas William
dc.contributor.author Asada, Harry
dc.date.accessioned 2012-03-30T20:15:43Z
dc.date.available 2012-03-30T20:15:43Z
dc.date.issued 2010-12
dc.date.submitted 2010-07
dc.identifier.issn 1552-3098
dc.identifier.issn 1941-0468
dc.identifier.other INSPEC Accession Number: 11675132
dc.identifier.uri http://hdl.handle.net/1721.1/69905
dc.description.abstract A new approach to a variable stiffness actuator with tunable resonant frequencies is presented in this paper. Variable stiffness actuators have become increasingly important to meet safety requirements and achieve adaptive manipulation or locomotion. For cyclic motion, exploiting dynamic resonance can lead to high power transmission, high energy efficiency, and large motion amplitude. Resonance and variable stiffness characteristics have yet to be incorporated into a single actuator design. In this paper, a cellular artificial muscle actuator that achieves both variable stiffness and variable resonance capabilities is presented. The design is based on piezoelectric stack actuators. First, the principle of variable stiffness and variable resonant frequencies is described. The static and dynamic performance are then quantified with theoretical models. Theoretical analysis reveals that the proposed actuator can be tuned over a broad range of resonant frequencies by selectively turning specific units on or off. Initial prototypes are tested experimentally and exhibit 15% static strain, over 300% static stiffness tunability, and over 100% dynamic resonance tunability. en_US
dc.language.iso en_US
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en_US
dc.relation.isversionof http://dx.doi.org/10.1109/tro.2010.2076850 en_US
dc.rights Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. en_US
dc.source IEEE en_US
dc.title A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies en_US
dc.type Article en_US
dc.identifier.citation Secord, Thomas W., and H. Harry Asada. “A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies.” IEEE Transactions on Robotics 26.6 (2010): 993–1005. Web. 30 Mar. 2012. © 2010 Institute of Electrical and Electronics Engineers en_US
dc.contributor.department d'Arbeloff Lab for Information Systems and Technology en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Mechanical Engineering en_US
dc.contributor.approver Asada, Haruhiko
dc.contributor.mitauthor Secord, Thomas William
dc.contributor.mitauthor Asada, Harry
dc.relation.journal IEEE Transactions on Robotics en_US
dc.identifier.mitlicense PUBLISHER_POLICY en_US
dc.eprint.version Final published version en_US
dc.type.uri http://purl.org/eprint/type/JournalArticle en_US
eprint.status http://purl.org/eprint/status/PeerReviewed en_US
dspace.orderedauthors Secord, Thomas W.; Asada, H. Harry en


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