Increasing variable stiffness actuator-response using an electromagnetic spring

Han Ping Yang, Chau Shin Jang, Herman Van Der Kooij

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

An electromagnetic spring-based variable stiffness actuator is a new concept with the potential to change stiffness faster than mechanical springs can; however, its nonlinear elastic property is a challenge in actuator design. In this paper, the torque response of a custom-made electromagnetic spring was studied using a ramping force test and electromagnetic simulation. A two-zone linear region, from 0° to 2° and 2° to 6.5°, was observed and explained through magnetic flux simulation to provide insight into the fundamentals of the electromagnetic spring. An unusual impedance response was also noted from this regional linearity, appeared on a step gain in Bode plot of end-point impedance in a dynamic test.

Original languageEnglish
Title of host publicationProceedings of the 4th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2019)
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages7-11
ISBN (Electronic)978-1-7281-0064-7
DOIs
Publication statusPublished - 2019
EventICARM 2019: 4th International Conference on Advanced Robotics and Mechatronics - Toyonaka, Japan
Duration: 3 Jul 20195 Jul 2019

Conference

ConferenceICARM 2019: 4th International Conference on Advanced Robotics and Mechatronics
CountryJapan
CityToyonaka
Period3/07/195/07/19

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