ICRA 2012 Paper Abstract

Close

Paper WeD04.5

Groothuis, Stefan S. (University of Twente), Rusticelli, Giacomo (University of Bologna), Zucchelli, Andrea (Unversity of Bologna), Stramigioli, Stefano (University of Twente), Carloni, Raffaella (University of Twente)

The vsaUT-II: A Novel Rotational Variable Stiffness Actuator

Scheduled for presentation during the Invited Session "Embodied Intelligence - Complient Actuators" (WeD04), Wednesday, May 16, 2012, 17:30−17:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords New Actuators for Robotics, Compliant Joint/Mechanism

Abstract

In this paper, the vsaUT-II, a novel rotational variable stiffness actuator, is presented. As the other designs in this class of actuation systems, the vsaUT-II is characterized by the property that the output stiffness can be changed independently of the output position. It consists of two internal elastic elements and two internal actuated degrees of freedom. The mechanical design of the vsaUT-II is such that the apparent output stiffness can be varied by changing the transmission ratio between the elastic elements and the output. This kinematic structure guarantees that the output stiffness can be changed without changing the potential energy stored internally in the elastic elements. This property is validated in simulations with the port-based model of the system and in experiments, through a proper control law design, on the prototype.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-10-24  00:23:42 PST  Terms of use