Classification of Variable Stiffness Actuators - part 2
نویسندگان
چکیده
منابع مشابه
Energy Efficient Actuation with Variable Stiffness Actuators
Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, various control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced by variable stiffness actuators has been show...
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Since their introduction in the early years of this century, Variable Stiffness Actuators (VSA) witnessed a sustained growth of interest in the research community, as shown by the growing number of publications. While many consider VSA very interesting for applications, one of the factors hindering their further diffusion is the relatively new conceptual structure of this technology. In choosin...
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Variable Stiffness Actuators (VSA) are currently being regarded as promising actuator types in robotics research especially due to their capability to store potential energy in their elastic elements and to control this energy by altering the elastic properties of these elements. The controllable potential energy enables these actuators to outperform their rigid counterparts especially when rea...
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In the 1990s compliant joint actuation was introduced to robotics with the Series Elastic Actuator [1] and the Mechanical Impedance Adjuster [2]. Such concepts provide safer human-robot interaction, can store energy and decrease force control effort [1]. In the following decades, energy efficient actuation with such concepts had high impact in mobile applications such as bipedal robots, since t...
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In the last decade new actuator designs have been presented trying to introduce at mechanical level the advantages of compliance. Ranging from serial elastic actuators to different designs of variable stiffness actuators, various prototypes have been proposed and implemented on robots, thus allowing performance of novel and challenging tasks. Nevertheless some of these new devices often are aff...
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ژورنال
عنوان ژورنال: Pomiary Automatyka Robotyka
سال: 2017
ISSN: 1427-9126
DOI: 10.14313/par_224/15