Design of cam shape for maximum stiffness variability on a novel compliant actuator using differential evolution


          

刊名：Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods
作者：Torrealba, Rafael R.（Univ Simon Bolivar, Dept Mech, MEU Bldg,MEU 320D, Caracas 1080A, Venezuela）
Udelman, Samuel B.
刊号：780C0013
ISSN：0094-114X
出版年：2016
年卷期：2016, vol.95
页码：114-124
总页数：11
分类号：TH111
关键词：Variable impedance actuators；Stiffness variability；Cam shape design；Differential evolution；Knee joint actuator；Bezier curves
参考中译：
语种：eng
文摘：In this paper, a particular cam shape was found for maximizing the range of stiffness variability of a novel adjustable compliant actuator called BAFSA. On one hand, this cam shape had to maximize the area corresponding to the curves of the stiffness-torque relationship of such actuator. On the other hand, it had to match with some parameters involved in the design of the BAFSA, in order to guarantee its feasibility of operation as a knee joint actuator on a human exoskeleton. To cope with all these conditions at a time, a differential evolution (DE) technique was applied. A DE algorithm was programmed, introducing a graphical approach based on Bezier curves to define the cam shape. Multiple runs were performed to test up to 10 configurations of the algorithm, progressively applying different constraints and cost functions. Such DE approximation proved to be very effective to design cam shapes, taking into account parameters of the mechanism in which the cam will perform. Finally, the best cam shape was selected from the different cases studied. Such a solution successfully complies with all the design criteria and constraints initially established. (C) 2015 Elsevier Ltd. All rights reserved.



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