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Article Dans Une Revue Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Année : 2022

Design, analysis, and simulation of a new variable stiffness joint based on antagonist principle

Résumé

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.
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Dates et versions

hal-03830005 , version 1 (26-10-2022)

Identifiants

Citer

María Guadalupe Contreras-Calderón, Med Amine Laribi, Marc Arsicault, Eduardo Castillo-Castañeda. Design, analysis, and simulation of a new variable stiffness joint based on antagonist principle. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022, 236 (18), pp.9991-10000. ⟨10.1177/09544062221088714⟩. ⟨hal-03830005⟩
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