On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture

被引：3
|
作者：
Malosio, Matteo [1 ,5 ]
Corbetta, Francesco [2 ]
Reyes, Francisco Ramirez [2 ]
Giberti, Hermes [3 ]
Legnani, Giovanni [1 ,4 ]
Tosatti, Lorenzo Molinari [1 ]
机构：
[1] CNR, Ist Sistemi & Tecnol Ind Intelligenti Manifatturi, Via Alfonso Corti 12, I-20133 Milan, Italy
[2] Politecn Milan, Dipartimento Meccan, Via Masa 1, I-20156 Milan, Italy
[3] Univ Pavia, Dipartimento Ingn Ind & Informaz, Via Ferrata 5, I-27100 Pavia, Italy
[4] Univ Brescia, Dipartimento Ingn Meccan & Ind, Piazza Mercato 15, I-25121 Brescia, Italy
[5] Polo Univ Lecco, CNR, Ist Sistemi & Tecnol Ind Intelligenti Manifatturi, Via G Previati 1-E, I-23900 Lecce, Italy
来源：
ROBOTICS | 2019年 / 8卷 / 02期
关键词：
parallel kinematic architecture; agonist-antagonist variable-stiffness actuator; tendon-driven mechanism; stiffness analysis; planar movements;
D O I：
10.3390/robotics8020039
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness.
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页数：14
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