Design and implementation of a novel two stage mechanical-magnetic variable stiffness actuator (M²-VSA)

This paper presents the design and implementation of a novel joint-based magnetic actuator for robotic manipulators using variable stiffness mechanism. This new actuator prototype, namely M 2 -VSA, is developed as an improvement over previous actuators in its class. The robotic arm with M 2 -VSA joi...

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Bibliographic Details
Published in:Advanced robotics 2014-12, Vol.28 (24), p.1677-1689
Main Authors: Pirooz, Hamid Dolatshahi, Eftekharian, Ata A., Shahri, Alireza Mohammad, Eftekhari Yazdi, Mohammad
Format: Article
Language:English
Subjects:
human robot interaction
joint
robotic arm
variable stiffness actuator
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Summary:This paper presents the design and implementation of a novel joint-based magnetic actuator for robotic manipulators using variable stiffness mechanism. This new actuator prototype, namely M 2 -VSA, is developed as an improvement over previous actuators in its class. The robotic arm with M 2 -VSA joint can safely interact with human operators and work in hazardous conditions. The main novelty in this work is the use of magnetic force in accompanying with springs in a novel arrangement to adjust the joints' stiffness and mitigate the effect of impact. The theoretical framework and advantages of the design are discussed in detail. Experimental studies through various tests show the effectiveness and efficiency of mechanical-magnetic joint as a safe mechanism in environments where human and robotics have interaction.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2014.974667