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Book Sections Year : 2020

Static analysis and design strategy of two antagonistically actuated joints

Vimalesh Muralidharan
Matthieu Furet
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Abstract

This paper compares the static performances of two types of antagonistically actuated joints: a revolute (R) joint and an antiparallel-ogram (X) joint. Both joints are equipped with lateral springs and actu-ated with two opposite cables running through the springs. The comparative study is conducted on the basis of their wrench-feasible workspace and stiffness. A methodology is proposed for the optimal design of each joint. Eventually, an R-joint and an X-joint, optimized for the same prescribed wrench-feasible workspace, are compared on the basis of their maximal actuation forces.
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Dates and versions

hal-03010558 , version 1 (17-11-2020)

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  • HAL Id : hal-03010558 , version 1

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Vimalesh Muralidharan, Philippe Wenger, Matthieu Furet. Static analysis and design strategy of two antagonistically actuated joints. New Trends in Mechanism and Machine Science, 2020. ⟨hal-03010558⟩
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