Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human-robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. © 2011 American Society of Mechanical Engineers.
Palli G, Berselli G, Melchiorri C, Vassura G (2011). Design of a Variable Stiffness Actuator Based on Flexures. JOURNAL OF MECHANISMS AND ROBOTICS, 3, 40-44 [10.1115/1.4004228].
Design of a Variable Stiffness Actuator Based on Flexures
PALLI, GIANLUCA;BERSELLI, GIOVANNI;MELCHIORRI, CLAUDIO;VASSURA, GABRIELE
2011
Abstract
Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human-robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. © 2011 American Society of Mechanical Engineers.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
