Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
نویسندگان
چکیده
Abstract Antagonistically actuated variable stiffness actuators (VSAs) take inspiration from biological muscle structures to control both the and positioning of a joint. This paper presents design an elastic mechanism that utilizes cable running through set three pulleys displace linear spring, yielding quadratic spring behavior in each actuator. A joint antagonistically by two such mechanisms yields relationship between force deflection selectable equilibrium position. quasi-static model is used optimize mechanism. Testing fabricated prototype yielded good match desired behavior.
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2021
ISSN: ['1942-4302', '1942-4310']
DOI: https://doi.org/10.1115/1.4050104