TY - JOUR
T1 - Design of a Variable Stiffness Joint for a Five-Bar-Mechanism
AU - Contreras-Calderón, Maria Guadalupe
AU - Castillo-Castañeda, Eduardo
N1 - Publisher Copyright:
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020.
PY - 2020
Y1 - 2020
N2 - Variable stiffness actuators have been developed as an alternative to rigid actuators and have been implemented in human-robot interaction tasks such as industrial or assistance tasks to improve the dynamic performance of robots. This paper presents a new design of a variable stiffness joint to generate resistance to movement in the end-effector of a mechanism. The design is based on the cantilever beam principle, where the beam presents a flexion when applying a force and that keeps its stiffness constant. Movable support is implemented, which slides through the beam and allows to vary its flexion according to the movable support distance that is proportional to the stiffness. Also, tests have been performed with the rotational joint, where the end of the beam has been fixed on the rotational joint axis and the link is rotated to a specific angle to study the contribution of stiffness in the resistance to movement of the end-effector link.
AB - Variable stiffness actuators have been developed as an alternative to rigid actuators and have been implemented in human-robot interaction tasks such as industrial or assistance tasks to improve the dynamic performance of robots. This paper presents a new design of a variable stiffness joint to generate resistance to movement in the end-effector of a mechanism. The design is based on the cantilever beam principle, where the beam presents a flexion when applying a force and that keeps its stiffness constant. Movable support is implemented, which slides through the beam and allows to vary its flexion according to the movable support distance that is proportional to the stiffness. Also, tests have been performed with the rotational joint, where the end of the beam has been fixed on the rotational joint axis and the link is rotated to a specific angle to study the contribution of stiffness in the resistance to movement of the end-effector link.
KW - Cantilever beam
KW - Five-bar mechanism
KW - Resistance force
KW - Variable stiffness joint
UR - http://www.scopus.com/inward/record.url?scp=85087031554&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-48989-2_7
DO - 10.1007/978-3-030-48989-2_7
M3 - Artículo
AN - SCOPUS:85087031554
SN - 2211-0984
VL - 84
SP - 54
EP - 63
JO - Mechanisms and Machine Science
JF - Mechanisms and Machine Science
ER -