Name
Title | ||
|---|---|---|
Virtual and physical prototyping of a beam-based variable stiffness actuator for safe human-machine interaction |
Abstract | ||
|---|---|---|
•The design of an antagonistic Variable Stiffness Actuator (VSA) is presented. With the specific aim of overcoming the limits of a previous solution proposed by the Authors, this new VSA makes use of beam-based Compliant Transmission Elements (CTEs), allowing for larger deflections and thus extending the VSA stiffness variability range.•A multi software framework is used as an effective way to optimize the shape of such CTEs in a limited number of iterations.•CTE specimens are produced and tested via a custom test rig for validation purposes.•In order to compensate for the CTE’s hysteresis, along with other unmodeled effects (i.e. static and dynamic friction), a robust control algorithm for simultaneous regulation of both joint position and stiffness is proposed.•A physical prototype of the actuator is fabricated, assembled and tested. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1016/j.rcim.2019.101886 | Robotics and Computer-Integrated Manufacturing |
Keywords | DocType | Volume |
Variable stiffness actuators,Compliant mechanisms,Shape optimization,Multi software framework,Sliding mode controller | Journal | 65 |
ISSN | Citations | PageRank |
0736-5845 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pietro Bilancia | 1 | 0 | 1.69 |
| Giovanni Berselli | 2 | 41 | 7.08 |
| Gianluca Palli | 3 | 268 | 29.98 |