Increasing variable stiffness actuator-response using an electromagnetic spring

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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 publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherIEEE
Pages7-11
Number of pages5
ISBN (Electronic)9781728100647
DOIs
Publication statusPublished - Jul 2019
Event4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan
Duration: 3 Jul 20195 Jul 2019
Conference number: 4

Conference

Conference4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Abbreviated titleICARM 2019
CountryJapan
CityOsaka
Period3/07/195/07/19

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