Mechanical synthesis for nonlinear passive
stiffness
1. Nonlinear passive stiffness using mechanical singularity For the realization of nonlinear passive stiffness, a nonlinearity of material is sometimes utilized. For example, SMA (Shape Memory Alloy) has super elasticity which realizes low stiffness. In this research, nonlinear passive stiffness is realized by a linear spring and nonlinearity of mechanism. The following figures show the designed mechanism. |
2. Mechanical synthesis for nonlinear passive stiffness In this research, a variable stiffness is realized by "robot motion" + "nonlinear stiffness". For this purpose, an arbitrary profile of nonlinear stiffness has to be synthesized. The following mechanism is designed and link parameters are optimized so that the reaction force realizes the given profile as shown in the right figure to absorb the impact in landing. |
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