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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/ | ||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||
| Title: | Analysis and Synthesis of the Bidirectional Antagonistic Variable Stiffness Mechanism | ||||||||||||||||||||
| Authors: |
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| 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 System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old), R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||
| 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: | 22 Jun 2023 10:21 |
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