A Spherical Parallel Mechanism Based Rotary Variable Stiffness Actuator. Ergin, M. A. & Patoglu, V. In ECCOMAS Thematic Conference on Multibody Dynamics, 2011. abstract bibtex In this study, we introduce a novel rotary variable stiffness actuator based on antagonist actuation. In order to enable independent control of position and stiffness of the actuator, we propose implementing quadratic torsional springs by means of a spherical parallel mechanism coupled to a spherical cam. Unlike existing designs, since all aspects of the variable stiffness actuator is implemented in the rotary space, the proposed design eliminates the need for transmission elements to map rotary motion to linear motion and back to rotary motion. Thanks to its direct implementation in rotational space, the resulting design is compact and easy to implement by using linear torsional springs; thus, more robust against mechanical imperfections.
@InProceedings{Ergin2011a,
booktitle = {ECCOMAS Thematic Conference on Multibody Dynamics},
author = {Mehmet Alper Ergin and Volkan Patoglu},
title = {A Spherical Parallel Mechanism Based Rotary Variable Stiffness Actuator},
year = {2011},
abstract = {In this study, we introduce a novel rotary variable stiffness actuator based on antagonist actuation. In order to enable independent control of position and stiffness of the actuator, we propose implementing quadratic torsional springs by means of a spherical parallel mechanism coupled to a spherical cam. Unlike existing designs, since all aspects of the variable stiffness actuator is implemented in the rotary space, the proposed design eliminates the need for transmission elements to map rotary motion to linear motion and back to rotary motion. Thanks to its direct implementation in rotational space, the resulting design is compact and easy to implement by using linear torsional springs; thus, more robust against mechanical imperfections.}
}
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