TY - GEN
T1 - Linear negative stiffness honeycomb actuator with integrated force sensing
AU - Galimzhanov, Temirlan
AU - Zhakatayev, Altay
AU - Kashapov, Ramil
AU - Kappassov, Zhanat
AU - Varol, Huseyin Atakan
N1 - Funding Information:
T. Galimzhanov, A. Zhakatayev, Z. Kappassov, and H. A. Varol are with the Dept. of Robotics, Nazarbayev University, 53 Kabanbay Batyr Ave., Z05H0P9 Astana, Republic of Kazakhstan. Email: {temirlan.galimzhanov, azhakatayev, zhkappassov, ahvarol}@nu.edu.kz R. Kashapov is with the Inst. of Engineering, Kazan Federal University, 12 Saydasheva Str., 420008 Kazan, Republic of Tatarstan. Email: [email protected] This work was partially supported by Nazarbayev University Faculty-development competitive research grants program “Variable Stiffness Tactile Sensor for Robot Manipulation and Object Exploration” 110119FD45119 and the Ministry of Education and Science of the Republic of Kazakhstan grant “Methods for Safe Human Robot Interaction with Variable Impedance Actuated Robots” AP05135733.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - Negative stiffness honeycombs (NSHs) have unique features, such as recoverable elastic buckling, impact absorption, and shock isolation. Another advantage of NSH is its variable stiffness property. Due to these advantages, they have substantial potential in applications related to vibration isolation, haptic devices, and variable impedance actuators. In this paper, the utilization of NSH as an impedance element to design a variable impedance actuator (VIA) is explored. Specifically, we focus on the force and displacement measurement problem of NSH. The integration of traditional force and position sensors would complicate the design of a NSH-based VIA actuator, increase its cost and volumetric envelope. Instead, arrays of magnets and magnetic sensors are proposed to measure both the force and compression of NSH. In order to test the hypothesis, a linear NSH actuator was designed and built. Experiments were performed to test the feasibility of the proposed approach. Results demonstrate the feasibility of using NSHs in VIA design and that magnetic sensors can be reliably used to estimate both the force and compression of NSHs.
AB - Negative stiffness honeycombs (NSHs) have unique features, such as recoverable elastic buckling, impact absorption, and shock isolation. Another advantage of NSH is its variable stiffness property. Due to these advantages, they have substantial potential in applications related to vibration isolation, haptic devices, and variable impedance actuators. In this paper, the utilization of NSH as an impedance element to design a variable impedance actuator (VIA) is explored. Specifically, we focus on the force and displacement measurement problem of NSH. The integration of traditional force and position sensors would complicate the design of a NSH-based VIA actuator, increase its cost and volumetric envelope. Instead, arrays of magnets and magnetic sensors are proposed to measure both the force and compression of NSH. In order to test the hypothesis, a linear NSH actuator was designed and built. Experiments were performed to test the feasibility of the proposed approach. Results demonstrate the feasibility of using NSHs in VIA design and that magnetic sensors can be reliably used to estimate both the force and compression of NSHs.
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U2 - 10.1109/AIM43001.2020.9158855
DO - 10.1109/AIM43001.2020.9158855
M3 - Conference contribution
AN - SCOPUS:85090386828
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1589
EP - 1594
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -