Study on a Variable Stiffness Mechanism Using Wire Spring

Yasuo Hayashibara

doi:10.20965/jrm.2008.p0296

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JRM Vol.20 No.2 pp. 296-301

doi: 10.20965/jrm.2008.p0296

(2008)

Paper:

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Study on a Variable Stiffness Mechanism Using Wire Spring

Yasuo Hayashibara

Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, Japan

Received:

October 2, 2007

Accepted:

December 17, 2007

Published:

April 20, 2008

Keywords:

variable stiffness mechanism, wire spring, stretch robot

Abstract

In this paper, we propose a variable stiffness mechanism using wire springs. We have proposed such kind of mechanism using nonlinear coil springs. We intend to apply it to continuous passive motion (CPM) machine. It can change the spring characteristic continuously. Its disadvantages are need for wide space and powerful motor to change stiffness. And, it is difficult to design such nonlinear spring. To solve these problems, we propose a mechanism with wire springs. It is easy to obtain the wire spring, because it is material of coil spring. We explain how the design and evaluate it in experiments.

Cite this article as:

Y. Hayashibara, “Study on a Variable Stiffness Mechanism Using Wire Spring,” J. Robot. Mechatron., Vol.20, No.2, pp. 296-301, 2008.

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References

[1] Y. Hyashiba, H. Hakogi, and K. Watanabe, “Study on a CPM Device for Rehabilitation with Variable Stiffness Mechanism,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’04), 1A1-H-77(CD-ROM), 2004.
[2] Y. Hyashiba, H. Hakogi, and K. Watanabe, “Development of a CPM Device for Rehabilitation with Variable Stiffness Mechanism,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’03), 2A1-2F-D2(CD-ROM), 2003.
[3] Y. Hayashiba, “Design of Nonlinear Spring for Variable Stiffness Mechanism,” Proc. of The 20th Annual Conf. of the Robotics Society of Japan, 1M23(CD-ROM), 2002.
[4] S. Suzaki and Y. Hayashiba, “Study on a Variable Stiffness Mechanism Using Nonlinear Springs,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’01), 1A1-H1(CD-ROM), 2001.
[5] T. Morita and S. Sugano, “New Control Method for Robot Joint by Mechanical Impedance Adjuster, Proposition of Mechanisms and Application to Robot Finger,” Journal of the Robotics Society of Japan, Vol.14, No.1, pp. 131-136, 1996.
[6] T. Shirai and T. Tomioka, “Proposal of Joint Stiffness Adjustment Mechanism SAT –Analysis and Modeling of SAT–,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’03), 2P2-2F-F1 (CD-ROM), 2003.
[7] I. Mizuuchi, T. Matsuki, S. Kagami, M. Inaba, and H. Inoue, “An Approach to a Humanoid That Has a Variable Flexible Torso,” Proc.s of The 16th Annual Conf. of the Robotics Society of Japan, Vol.2, pp. 825-826, 1998.
[8] K. Koganezawa, M. Yamazaki, and N. Ishikawa, “Mechanical Stiffness Control of Tendon-Driven Joints,” Journal of the Robotics Society of Japan, Vol.18, No.7, pp. 101-108, 2000.
[9] K. Tanie and Y. Hayashibara, “New Technologies for Human-Robot Cooperation, Toward Machina Sapiens: New Machine, Compliance Control for Machines and Robots,” SICE Journal of Control, Measurement, and System Integration, Vol.34, No.4, pp. 274-280, 1995.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Hyashiba, H. Hakogi, and K. Watanabe, “Study on a CPM Device for Rehabilitation with Variable Stiffness Mechanism,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’04), 1A1-H-77(CD-ROM), 2004.

[2] [2] Y. Hyashiba, H. Hakogi, and K. Watanabe, “Development of a CPM Device for Rehabilitation with Variable Stiffness Mechanism,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’03), 2A1-2F-D2(CD-ROM), 2003.

[3] [3] Y. Hayashiba, “Design of Nonlinear Spring for Variable Stiffness Mechanism,” Proc. of The 20th Annual Conf. of the Robotics Society of Japan, 1M23(CD-ROM), 2002.

[4] [4] S. Suzaki and Y. Hayashiba, “Study on a Variable Stiffness Mechanism Using Nonlinear Springs,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’01), 1A1-H1(CD-ROM), 2001.

[5] [5] T. Morita and S. Sugano, “New Control Method for Robot Joint by Mechanical Impedance Adjuster, Proposition of Mechanisms and Application to Robot Finger,” Journal of the Robotics Society of Japan, Vol.14, No.1, pp. 131-136, 1996.

[6] [6] T. Shirai and T. Tomioka, “Proposal of Joint Stiffness Adjustment Mechanism SAT –Analysis and Modeling of SAT–,” Proc. of JSME Conf. on Robotics and Mechatronics (ROBOMEC’03), 2P2-2F-F1 (CD-ROM), 2003.

[7] [7] I. Mizuuchi, T. Matsuki, S. Kagami, M. Inaba, and H. Inoue, “An Approach to a Humanoid That Has a Variable Flexible Torso,” Proc.s of The 16th Annual Conf. of the Robotics Society of Japan, Vol.2, pp. 825-826, 1998.

[8] [8] K. Koganezawa, M. Yamazaki, and N. Ishikawa, “Mechanical Stiffness Control of Tendon-Driven Joints,” Journal of the Robotics Society of Japan, Vol.18, No.7, pp. 101-108, 2000.

[9] [9] K. Tanie and Y. Hayashibara, “New Technologies for Human-Robot Cooperation, Toward Machina Sapiens: New Machine, Compliance Control for Machines and Robots,” SICE Journal of Control, Measurement, and System Integration, Vol.34, No.4, pp. 274-280, 1995.