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Analysis and Synthesis of the Bidirectional Antagonistic Variable Stiffness Mechanism

Petit, Florian and Friedl, Werner and Höppner, Hannes and Grebenstein, Markus (2014) Analysis and Synthesis of the Bidirectional Antagonistic Variable Stiffness Mechanism. IEEE-ASME Transactions on Mechatronics, PP (99), pp. 1-12. IEEE - Institute of Electrical and Electronics Engineers. DOI: [10.1109/TMECH.2014.2321428] ISSN 1083-4435

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6824187&tag=1

Abstract

Variable stiffness actuation promises many benefits regarding mechanism robustness, energy efficiency, and dynamic performance. Here, we analyze the bidirectional antagonistic variable stiffness (BAVS) joint. A comprehensive overview of several aspects is given with a focus on the stiffness and torque characteristics of the joint. First, the functionality and properties of the abstract joint model are considered. Then, implementation details influencing the stiffness properties are discussed based on cam disc variable stiffness mechanisms. In general, an analytic approach is chosen to enable a generalization of the results. Experiments conducted on a BAVS joint of the variable stiffness actuated robot DLR Hand Arm System verify the theoretical findings.

Item URL in elib:https://elib.dlr.de/90931/
Document Type:Article
Title:Analysis and Synthesis of the Bidirectional Antagonistic Variable Stiffness Mechanism
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Höppner, Hanneshannes.hoeppner (at) dlr.deUNSPECIFIED
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Date:2 June 2014
Journal or Publication Title:IEEE-ASME Transactions on Mechatronics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:PP
DOI :[10.1109/TMECH.2014.2321428]
Page Range:pp. 1-12
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Transactions on Mechatronics
ISSN:1083-4435
Status:Published
Keywords:Actuators; Joints; Muscles; Robot sensing systems; Springs; Torque;
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik, R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Höppner, Hannes
Deposited On:17 Oct 2014 15:09
Last Modified:06 Sep 2019 15:21

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