A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies
Name
Secord-2010-A Variable Stiffness.pdf
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976.88 KB
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Adobe PDF
Checksum (MD5)
050d45a9326c75a8f2f4a25b323a9915
Author(s)
Secord, Thomas William
Asada, Haruhiko
Date Issued
December 2010
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
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
Version
Final published version
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
Terms of Use
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.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tro.2010.2076850
