Mechanical Issues Inherent in Antagonistically Actuated Systems
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The relationship between the stiffness properties of actuators configured in an agonist-antagonist configuration and the stiffness of the joint is simple but not intuitively obvious. In this paper, this relationship is investigated and it is shown that the stiffness properties (hardening or softening) of the joint depend on the second derivative of the individual actuator stiffness with respect to actuator displacement. Numerical examples are given to illustrate the relationship and two practical examples, in which the actuators stiffness arises from Belleville washers or from an air piston, are analyzed.
2013 ◽
Vol 3
(1)
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pp. 22-33
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2019 ◽
Vol 20
(4)
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pp. 985-1010
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Keyword(s):
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2019 ◽
Vol 5
(2)
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pp. 32
2020 ◽
Vol 2
(4)
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pp. 126-130
2017 ◽