scholarly journals Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

2019 ◽  
Author(s):  
Jesus Hiram Lugo ◽  
Alessio Caligiuri ◽  
Matteo Zoppi ◽  
Giorgio Cannata ◽  
Rezia Molfino
Keyword(s):  
Variable Stiffness ◽  
Revolute Joint ◽  
Stiffness Control ◽  
Variable Stiffness Actuator

scholarly journals Simultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator

2019 ◽  
Vol 1 (2) ◽  
pp. 80-97
Author(s):  
Jesus H Lugo
Keyword(s):  
Control Method ◽  
Variable Stiffness ◽  
Industrial Processes ◽  
Revolute Joint ◽  
Additional Information ◽  
Physical Prototype ◽  
Stiffness Control ◽  
Variable Stiffness Actuator ◽  
Control Fluid ◽  
And Control

Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.

Analysis and synthesis of LinWWC-VSA, a Variable Stiffness Actuator for linear motion

2017 ◽  
Vol 110 ◽  
pp. 85-99 ◽  
Author(s):  
G. Spagnuolo ◽  
M. Malosio ◽  
T. Dinon ◽  
L. Molinari Tosatti ◽  
G. Legnani
Keyword(s):  
Variable Stiffness ◽  
Linear Motion ◽  
Analysis And Synthesis ◽  
Variable Stiffness Actuator
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