Optimal design of a variable stiffness joint using permanent magnets

Myung Wook Hyun; Jeonghoon Yoo; Seoung Tack Hwang; Jun Ho Choi; Sungchul Kang; Seung Jong Kim

doi:10.1109/TMAG.2007.893771

Optimal design of a variable stiffness joint using permanent magnets

Myung Wook Hyun, Jeonghoon Yoo, Seoung Tack Hwang, Jun Ho Choi, Sungchul Kang, Seung Jong Kim

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

Safety and performance are often required for robots interacting with humans. A variable stiffness joint (VSJ) is a useful device to reduce the shock against a human being by decreasing the joint stiffness quickly. In this study, a novel concept of VSJ using permanent magnets is suggested. It can have stronger stiffness compared with previous systems to satisfy payload conditions. However, this system requires a positioning mechanism to move the rotor to the axial direction for the variable stiffness. This study focuses on the optimal design of a permanent-magnet-type VSJ. The analysis is based on the finite-element simulation. The virtual work method is used to calculate the force and torque of VSJ. The modification of the initial concept model is preceded and a prototype is implemented and tested to compare analysis results. Also, the Halbach array concept is added to increase the torque of VSJ. The parameter optimization scheme is applied based on the design of experiments and a final design is suggested.

Original language	English
Pages (from-to)	2710-2712
Number of pages	3
Journal	IEEE Transactions on Magnetics
Volume	43
Issue number	6
DOIs	https://doi.org/10.1109/TMAG.2007.893771
Publication status	Published - 2007 Jun

Bibliographical note

Funding Information:
This research is supported in part by the 21C Frontier program for intelligent robot and in part by the Intelligent Robotics Research Center of the Korea Institute of Science and Technology (KIST).

Keywords

Design of experiments
Halbach array
Optimal design
Permanent magnet
Variable stiffness joint (VSJ)

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Electrical and Electronic Engineering

Access to Document

10.1109/TMAG.2007.893771

Cite this

@article{aabf0c1e114945d48e4a4ff6931a9784,

title = "Optimal design of a variable stiffness joint using permanent magnets",

abstract = "Safety and performance are often required for robots interacting with humans. A variable stiffness joint (VSJ) is a useful device to reduce the shock against a human being by decreasing the joint stiffness quickly. In this study, a novel concept of VSJ using permanent magnets is suggested. It can have stronger stiffness compared with previous systems to satisfy payload conditions. However, this system requires a positioning mechanism to move the rotor to the axial direction for the variable stiffness. This study focuses on the optimal design of a permanent-magnet-type VSJ. The analysis is based on the finite-element simulation. The virtual work method is used to calculate the force and torque of VSJ. The modification of the initial concept model is preceded and a prototype is implemented and tested to compare analysis results. Also, the Halbach array concept is added to increase the torque of VSJ. The parameter optimization scheme is applied based on the design of experiments and a final design is suggested.",

keywords = "Design of experiments, Halbach array, Optimal design, Permanent magnet, Variable stiffness joint (VSJ)",

author = "Hyun, {Myung Wook} and Jeonghoon Yoo and Hwang, {Seoung Tack} and Choi, {Jun Ho} and Sungchul Kang and Kim, {Seung Jong}",

note = "Funding Information: This research is supported in part by the 21C Frontier program for intelligent robot and in part by the Intelligent Robotics Research Center of the Korea Institute of Science and Technology (KIST).",

year = "2007",

month = jun,

doi = "10.1109/TMAG.2007.893771",

language = "English",

volume = "43",

pages = "2710--2712",

journal = "IEEE Transactions on Magnetics",

issn = "0018-9464",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "6",

}

TY - JOUR

T1 - Optimal design of a variable stiffness joint using permanent magnets

AU - Hyun, Myung Wook

AU - Yoo, Jeonghoon

AU - Hwang, Seoung Tack

AU - Choi, Jun Ho

AU - Kang, Sungchul

AU - Kim, Seung Jong

N1 - Funding Information: This research is supported in part by the 21C Frontier program for intelligent robot and in part by the Intelligent Robotics Research Center of the Korea Institute of Science and Technology (KIST).

PY - 2007/6

Y1 - 2007/6

N2 - Safety and performance are often required for robots interacting with humans. A variable stiffness joint (VSJ) is a useful device to reduce the shock against a human being by decreasing the joint stiffness quickly. In this study, a novel concept of VSJ using permanent magnets is suggested. It can have stronger stiffness compared with previous systems to satisfy payload conditions. However, this system requires a positioning mechanism to move the rotor to the axial direction for the variable stiffness. This study focuses on the optimal design of a permanent-magnet-type VSJ. The analysis is based on the finite-element simulation. The virtual work method is used to calculate the force and torque of VSJ. The modification of the initial concept model is preceded and a prototype is implemented and tested to compare analysis results. Also, the Halbach array concept is added to increase the torque of VSJ. The parameter optimization scheme is applied based on the design of experiments and a final design is suggested.

AB - Safety and performance are often required for robots interacting with humans. A variable stiffness joint (VSJ) is a useful device to reduce the shock against a human being by decreasing the joint stiffness quickly. In this study, a novel concept of VSJ using permanent magnets is suggested. It can have stronger stiffness compared with previous systems to satisfy payload conditions. However, this system requires a positioning mechanism to move the rotor to the axial direction for the variable stiffness. This study focuses on the optimal design of a permanent-magnet-type VSJ. The analysis is based on the finite-element simulation. The virtual work method is used to calculate the force and torque of VSJ. The modification of the initial concept model is preceded and a prototype is implemented and tested to compare analysis results. Also, the Halbach array concept is added to increase the torque of VSJ. The parameter optimization scheme is applied based on the design of experiments and a final design is suggested.

KW - Design of experiments

KW - Halbach array

KW - Optimal design

KW - Permanent magnet

KW - Variable stiffness joint (VSJ)

UR - http://www.scopus.com/inward/record.url?scp=34249089542&partnerID=8YFLogxK

U2 - 10.1109/TMAG.2007.893771

DO - 10.1109/TMAG.2007.893771

M3 - Article

AN - SCOPUS:34249089542

SN - 0018-9464

VL - 43

SP - 2710

EP - 2712

JO - IEEE Transactions on Magnetics

JF - IEEE Transactions on Magnetics

IS - 6

ER -

Optimal design of a variable stiffness joint using permanent magnets

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this