Development and control of a variable stiffness actuator using a variable radius gear transmission mechanism

2017 ◽  
Author(s):  
Handdeut Chang ◽  
Sangjoon J. Kim ◽  
Youngjin Na ◽  
Junghoon Park ◽  
Jung Kim
Keyword(s):  
Variable Stiffness ◽  
Gear Transmission ◽  
Transmission Mechanism ◽  
Variable Radius ◽  
Variable Stiffness Actuator ◽  
And Control

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.

Design and Control of a Passive Noise Rejecting Variable Stiffness Actuator

2018 ◽  
pp. 235-262
Author(s):  
Luca Fiorio ◽  
Francesco Romano ◽  
Alberto Parmiggiani ◽  
Bastien Berret ◽  
Giorgio Metta ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Variable Stiffness Actuator ◽  
Passive Noise ◽  
And Control

scholarly journals Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)

Actuators ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 50 ◽  
Author(s):  
Irfan Hussain ◽  
Ahmad Albalasie ◽  
Mohammad I. Awad ◽  
Dongming Gan
Keyword(s):  
Variable Stiffness ◽  
Torque Control ◽  
Discrete Variable ◽  
Linear Quadratic ◽  
Control Schemes ◽  
Variable Stiffness Actuation ◽  
Working Principle ◽  
Variable Stiffness Actuator ◽  
And Control ◽  
Future Work

A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a discrete variable stiffness actuator (DVSA), which will be developed for complaint manipulators in the future. The working principle of the actuator depends on the involvement of series and parallel springs. We firstly report the conceptual design of a stiffness varying mechanism, and later the details of the dynamic model, system identification, and control techniques are presented. The dynamic parameters of the system are identified by using the logarithmic decrement algorithm, while the control schemes are based on linear quadratic control (LQR) and computed torque control (CTC), respectively. The numerical simulations are performed for the evaluation of each method, and results showed the good potentialities for the system. Future work includes the implementation of the presented approach on the hardware.

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