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.
Titolo: | Design of a Variable Stiffness Actuator Based on Flexures |
Autore/i: | PALLI, GIANLUCA; BERSELLI, GIOVANNI; MELCHIORRI, CLAUDIO; VASSURA, GABRIELE |
Autore/i Unibo: | |
Anno: | 2011 |
Rivista: | |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1115/1.4004228 |
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. |
Data prodotto definitivo in UGOV: | 2013-06-19 13:50:26 |
Appare nelle tipologie: | 1.01 Articolo in rivista |