Design, analysis, and simulation of a new variable stiffness joint based on antagonist principle

In robotics, the variable stiffness joints have been developed as an alternative to include flexibility to a rigid mechanism. Variable Stiffness Joint (VSJ) allows for varying the stiffness in a mechanism during the performance of a trajectory. The development of this joint has increased, and variou...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2022-09, Vol.236 (18), p.9991-10000
Main Authors: Contreras-Calderón, María Guadalupe, Laribi, Med Amine, Arsicault, Marc, Castillo-Castañeda, Eduardo
Format: Article
Language:English
Subjects:
Acoustics
Automatic
Biomechanics
Chemical Sciences
Electric power
Electromagnetism
Engineering Sciences
Fluid mechanics
Human engineering
Material chemistry
Materials and structures in mechanics
Mathematical Physics
Mechanics
Physics
Polymers
Principles
Quantum Physics
Racks
Reactive fluid environment
Robotics
Robots
Stiffness
Thermics
Torque
Vibrations
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Summary:In robotics, the variable stiffness joints have been developed as an alternative to include flexibility to a rigid mechanism. Variable Stiffness Joint (VSJ) allows for varying the stiffness in a mechanism during the performance of a trajectory. The development of this joint has increased, and various applications have emerged, most to improve human-robot interaction. This paper presents a VSJ based on the principle of antagonistic springs with a set of gears and racks that allow the extension or compression of the springs. The joint provides constant torque or variable torque to obtain a constant or variable force at the output of the link, so a relationship is between the torque provided by the spring’s effort and the output force; however, it is possible to achieve a desired variable force with this joint design. Simulations are realized to obtain the behavior for both a constant and a variable force.
ISSN:0954-4062
2041-2983
DOI:10.1177/09544062221088714