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Design and Modeling of a Novel Compliant Ankle Mechanism with Flexible Slider-Crank Limbs

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

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Abstract

This paper presents the conceptual design and modeling of a novel compliant ankle mechanism, which has flexible slider-crank limbs. Two elastic beams are utilized as the springy elements to connect the sliders and crank, which provides the ankle joint with passive rotational stiffness when two sliders are driven independently. Both the forward and inverse kinetostatic model are derived to determine the equilibrium configuration and the corresponding actuation variables. Besides, the rotational stiffness of the studied ankle mechanism is modeled based on results from the kinetostatic model. Results of stiffness analysis reveal that the proposed ankle joint is capable of varying its rotational stiffness if the sliders are controlled properly. The kinetostatic and stiffness models developed in this paper lay a foundation for stiffness design and prototype development in the future work.

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Acknowledgement

This research work was supported in part by the National Key R &D program of China under the Grant 2019YFA0709001, and the National Natural Science Foundation of China under the Grant 52022056 and 51875334.

Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Genliang Chen & Hao Wang

  2. Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, 200240, China

    Shujie Tang & Genliang Chen

  3. Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China

    Shujie Tang, Wei Yan & Hao Wang

Authors
  1. Shujie Tang
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  2. Genliang Chen
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  3. Wei Yan
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  4. Hao Wang
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Corresponding author

Correspondence to Genliang Chen .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

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Tang, S., Chen, G., Yan, W., Wang, H. (2022). Design and Modeling of a Novel Compliant Ankle Mechanism with Flexible Slider-Crank Limbs. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_69

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_69

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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