Synthesis of Actively Adjustable Springs by Antagonistic Redundant Actuation

[+] Author and Article Information
Byung-Ju Yi, Robert A. Freeman

Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, 78712

J. Dyn. Sys., Meas., Control 114(3), 454-461 (Sep 01, 1992) (8 pages) doi:10.1115/1.2897368 History: Received January 07, 1991; Revised January 01, 1992; Online March 17, 2008


A methodology for active spring generation is presented based on antagonistic redundant actuation. Antagonistic properties are characterized using an effective system stiffness. “Antagonistic stiffness” is generated by preloading a closed-chain (parallel) linkage system. Internal load distribution is investigated along with the necessary conditions for spring synthesis. The performance and stability of a proposed active spring are shown by simulation, and applications are discussed.

Copyright © 1992 by The American Society of Mechanical Engineers
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