Elastic robot joints gain in importance since the nowadays robotics tends to the lightweight structures. The lightweight metals and composite materials deployed not only in the links but also in the joint assemblies affect the overall stiffness of robotic system. The elastic joints provide the loaded robot motion with additional compliance and can lead to significant control errors and vibratio...

We construct small-world spring networks based on a one-dimensional chain and study its static and quasistatic behavior with respect to external forces. Regular bonds and shortcuts are assigned linear springs of constant k and k', respectively. In our models, shortcuts can only stand extensions less than deltac beyond which they are removed from the network. First we consider the simple cases o...

Aiming at the problems of ship plate forming spring-back in theory and experiment, combining the law of sheet metal forming, this paper puts forward a measurement and compensation method of spring-back outside plate of a ship based on the three dimensional NC (numerical control) pressing machine. First, we use Dynaform software for finite element analysis of springback prediction, and then esta...

Series Elastic Actuators have linear springs intentionally placed in series between the motor and actuator output. The spring strain is measured to get an accurate estimate of force. Despite using a transmission to achieve high force/mass and high power/mass, the spring allows for good force control, high force fidelity, minimum impedance, and large dynamic range. A second order linear actuator...

Determination of density of liquid Springs have wide applications in physics and engineering. In physics laboratories, the students are often asked to find out the value of the spring constant of a given spring. The method generally they follow is based on Hooke’s law. This law states that the extension (x) of a spring within its elastic limit is directly proportional to the force applied to it...

Spring meshes have been used to model elastic material in computer graphics, with skin, textiles, and soft tissue being typical applications. A spring mesh is a system of vertices and edges, possibly with highly irregular geometry, in which each edge is a spring, and springs are connected by \pin-joints" (\gimbal-joints" in 3D) at the vertices. This method is computationally attractive, compare...

<:ontinuous deformable models are generally represented using a grid of control points. The elastic properties are then modeled using the interactions between these points. The formulations based on elasticity theory express these interactions using stiffness matrices. These matrices store the elastic properties of the models and they should be evolved in time according to changing elastic prop...

The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to satisfy many requirements necessary for the applications. This paper provides a theoretical framework to categorize and compare these various co...

A numerical method is described for studying how elastic waves interact with imperfect contacts such as fractures or glue layers existing between elastic solids. These contacts have been classicaly modeled by interfaces, using a simple rheological model consisting of a combination of normal and tangential linear springs and masses. The jump conditions satisfied by the elastic fields along the i...