TY - JOUR
T1 - Design, analysis, and simulation of a new variable stiffness joint based on antagonist principle
AU - Contreras-Calderón, María Guadalupe
AU - Laribi, Med Amine
AU - Arsicault, Marc
AU - Castillo-Castañeda, Eduardo
N1 - Publisher Copyright:
© IMechE 2022.
PY - 2022/9
Y1 - 2022/9
N2 - 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.
AB - 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.
KW - Variable stiffness joint
KW - antagonist springs
KW - compliant joint
KW - human-robot interaction
UR - http://www.scopus.com/inward/record.url?scp=85130523876&partnerID=8YFLogxK
U2 - 10.1177/09544062221088714
DO - 10.1177/09544062221088714
M3 - Artículo
AN - SCOPUS:85130523876
SN - 0954-4062
VL - 236
SP - 9991
EP - 10000
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
IS - 18
ER -