Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

Abstract In this article, we present a continuously tunable stiffness arm for safe physical human–robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues interactions via introducing mechanical compliance robotic systems. While extensive studies explore variable joints/actuators, much less studied. This article details the design modeling of whose can be tuned cable-driven mechanisms actuated by single servo motor. Specifically, 3D-printed is prototyped tested static experiments, an analytical model derived validated testing. The results show that lateral robot achieve variety 221.26% given morphing angle 90 deg. developed in study could promising approach concerns