At this time, several industrial processes and service tasks need safe interactions between humans and robots. This safety can be achieved using compliance design and control of mechanisms. This paper presents a compliant revolute joint mechanism using a variable stiffness actuator. The method for adapting the stiffness in the actuator includes a member onfigured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Actuator's stiffness is controlled by changing pressure of control fluid into distribution lines. The used control fluid is biphasic, composed of separated gas and liquid fractions with predefined ratio. A mathematical model of the actuator is presented, a modelbased 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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

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



    Erscheinungsdatum :

    2019-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation

    Lugo Calles J. H. / Ramadoss V. / Zoppi M. et al. | BASE | 2019

    Freier Zugriff


    A Three Revolute-Revolute-Spherical wearable fingertip cutaneous device for stiffness rendering

    Chinello, Francesco / Pacchierotti, Claudio / Malvezzi, Monica et al. | BASE | 2017

    Freier Zugriff

    Design of flexure revolute joint based on compliance and stiffness ellipsoids

    Zhang, Jing / Guo, Hong-wei / Wu, Juan et al. | SAGE Publications | 2022