Analysis and synthesis of LinWWC-VSA, a Variable Stiffness Actuator for linear motion

2017 ◽  
Vol 110 ◽  
pp. 85-99 ◽  
Author(s):  
G. Spagnuolo ◽  
M. Malosio ◽  
T. Dinon ◽  
L. Molinari Tosatti ◽  
G. Legnani
Keyword(s):  
Variable Stiffness ◽  
Linear Motion ◽  
Analysis And Synthesis ◽  
Variable Stiffness Actuator

scholarly journals Simultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator

2019 ◽  
Vol 1 (2) ◽  
pp. 80-97
Author(s):  
Jesus H Lugo
Keyword(s):  
Control Method ◽  
Variable Stiffness ◽  
Industrial Processes ◽  
Revolute Joint ◽  
Additional Information ◽  
Physical Prototype ◽  
Stiffness Control ◽  
Variable Stiffness Actuator ◽  
Control Fluid ◽  
And Control

Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.

A Variable Stiffness Actuator Based on Second-order Lever Mechanism and Its Manipulator Integration

2021 ◽  
Author(s):  
Zhangxing Liu ◽  
Hongzhe Jin ◽  
Hui Zhang ◽  
Yubin Liu ◽  
Yilin Long ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Second Order ◽  
Lever Mechanism ◽  
Variable Stiffness Actuator

scholarly journals Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator

2020 ◽  
Vol 461 ◽  
pp. 012019
Author(s):  
Shangkui Yang ◽  
Peng Chen ◽  
Yongzhan Cao ◽  
Shuyun Zhu ◽  
Zhuang Ge ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Variable Stiffness Actuator ◽  
Two Degree Of Freedom

scholarly journals On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 39 ◽  
Author(s):  
Matteo Malosio ◽  
Francesco Corbetta ◽  
Francisco Ramìrez Reyes ◽  
Hermes Giberti ◽  
Giovanni Legnani ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Variable Stiffness Actuator ◽  
Variable Stiffness Actuators

Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness.

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