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《A torsional MRE joint for a C-shaped robotic leg一种C形机械臂的扭转式MRE接头》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、UniversityofWollongongResearchOnlineFacultyofEngineeringandInformationSciences-FacultyofEngineeringandInformationSciencesPapers:PartA2017AtorsionalMREjointforaC-shapedroboticlegMD.ChristieUniversityofWollongongShuaishuaiSunUniversityofWollongong,ss886@uowmail.edu.auDonghongNingUniversityofWollon
2、gong,dn654@uowmail.edu.auHaipingDuUniversityofWollongong,hdu@uow.edu.auShiwuZhangUniversityofScienceandTechnologyofChina,zhangs@uow.edu.auSeenextpageforadditionalauthorsPublicationDetailsM.D.Christie,S.S.Sun,D.H.Ning,H.Du,S.W.Zhang&W.H.Li,"AtorsionalMREjointforaC-shapedroboticleg,"SmartMaterials
3、andStructures,vol.26,(1)pp.015002-1-015002-10,2017.ResearchOnlineistheopenaccessinstitutionalrepositoryfortheUniversityofWollongong.ForfurtherinformationcontacttheUOWLibrary:research-pubs@uow.edu.auAtorsionalMREjointforaC-shapedroboticlegAbstractServingtoimprovestabilityandenergyefficiencyduring
4、locomotion,innature,animalsmodulatetheirlegstiffnesstoadapttotheirterrain.Nowincorporatedintomanylocomotiverobotdesigns,suchcompliancecontrolcanenabledisturbancerejectionandimprovedtransitionbetweenchanginggroundconditions.Thispaperpresentsanoveldesignofavariablestiffnesslegutilizingamagnetorheo
5、logicalelastomerjointinaliteralrollingspringloadedinvertedpendulum(R-SLIP)morphology.Throughthesemi-activecontrolofthishybridpermanent-magnetandcoildesign,variablestiffnessisrealized,offeringadesignwhichiscapableofbothsofteningandstiffeninginanadaptivesortofway,withamaximumstiffnesschangeof48.0%
6、.Experimentalcharacterizationfirstservestoassessthestiffnessvariationcapacityofthetorsionaljoint,andthroughlatercomparisonwithforcetestingoftheleg,thelinearstiffnessischaracterizedwiththeR-SLIP-likebehaviorofthelegbeingdemonstrated.Throughtheforcerelationshipsapplied,ageneralizedrelationshipford
7、etermininglinearstiffnessbasedonjointrotationangleisalsoproposed,furtheraidingexperimentalvalidation.DisciplinesEngineering
8、ScienceandTechnologyStudiesPublicationDetailsM.D.Christie,S.S.Sun,D.H.Ning,H.Du,S.W.Zhang&W.H.Li,"At
