A 2-DOF joint with coupled variable output stiffness

Daniel J. Tan, Dannis Michel Brouwer, Matteo Fumagalli, Raffaella Carloni

Research output: Contribution to journalArticleAcademicpeer-review

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Abstract

This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low actuated inertia. Since the joint has coupled variable stiffness characteristic in the 2-DOF motions, the number of required actuators is reduced. The 2-DOF variable stiffness joint has been realized and experimentally tested.
Original languageEnglish
Pages (from-to)366-372
Number of pages7
JournalIEEE Robotics and automation letters
Volume2
Issue number1
DOIs
Publication statusPublished - Jan 2017

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Degrees of freedom (mechanics)
Stiffness
Degree of freedom
Output
Actuator
Actuators
Motion
Mountings
Inertia
Adjustment
Module

Keywords

  • EWI-27581
  • IR-103189
  • EC Grant Agreement nr.: FP7/600958

Cite this

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title = "A 2-DOF joint with coupled variable output stiffness",
abstract = "This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low actuated inertia. Since the joint has coupled variable stiffness characteristic in the 2-DOF motions, the number of required actuators is reduced. The 2-DOF variable stiffness joint has been realized and experimentally tested.",
keywords = "EWI-27581, IR-103189, EC Grant Agreement nr.: FP7/600958",
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A 2-DOF joint with coupled variable output stiffness. / Tan, Daniel J.; Brouwer, Dannis Michel; Fumagalli, Matteo; Carloni, Raffaella .

In: IEEE Robotics and automation letters, Vol. 2, No. 1, 01.2017, p. 366-372.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - A 2-DOF joint with coupled variable output stiffness

AU - Tan, Daniel J.

AU - Brouwer, Dannis Michel

AU - Fumagalli, Matteo

AU - Carloni, Raffaella

PY - 2017/1

Y1 - 2017/1

N2 - This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low actuated inertia. Since the joint has coupled variable stiffness characteristic in the 2-DOF motions, the number of required actuators is reduced. The 2-DOF variable stiffness joint has been realized and experimentally tested.

AB - This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low actuated inertia. Since the joint has coupled variable stiffness characteristic in the 2-DOF motions, the number of required actuators is reduced. The 2-DOF variable stiffness joint has been realized and experimentally tested.

KW - EWI-27581

KW - IR-103189

KW - EC Grant Agreement nr.: FP7/600958

U2 - 10.1109/LRA.2016.2631730

DO - 10.1109/LRA.2016.2631730

M3 - Article

VL - 2

SP - 366

EP - 372

JO - IEEE Robotics and automation letters

JF - IEEE Robotics and automation letters

SN - 2377-3766

IS - 1

ER -