Analysis of a variable stiffness differential drive (VSDD)

Matteo Fumagalli; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/ICRA.2014.6907193

Analysis of a variable stiffness differential drive (VSDD)

Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

Abstract

In robotics, differential mechanisms are widely used when lightweightness and compactness are a requisite for the robot design. Moreover, the last decades have seen the rise of (variable) compliant acuators as important elements to perform safe interaction and dynamic tasks. This paper introduces a Variable Stiffness Differential Drive (VSDD), i.e., a differential transmissions with variable stiffness actuators (VSAs), and presents a dynamic analysis. The analysis shows that, when variable stiffness actuators are used in coupled differential transmissions, the allowable stiffness range at the output of the system depends on the position of the springs inside the device. In particular, independent output joint stiffness can be obtained by dislocating the actuation from the elastic elements.

Original language	Undefined
Title of host publication	Proceedings of the International Conference on Robotics and Automation
Place of Publication	USA
Publisher	IEEE
Pages	2406-2411
Number of pages	6
ISBN (Print)	978-1-4799-3685-4
DOIs	https://doi.org/10.1109/ICRA.2014.6907193
Publication status	Published - Jun 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated title	ICRA
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Keywords

EWI-25117
METIS-306045

Access to Document

10.1109/ICRA.2014.6907193

Cite this

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title = "Analysis of a variable stiffness differential drive (VSDD)",

abstract = "In robotics, differential mechanisms are widely used when lightweightness and compactness are a requisite for the robot design. Moreover, the last decades have seen the rise of (variable) compliant acuators as important elements to perform safe interaction and dynamic tasks. This paper introduces a Variable Stiffness Differential Drive (VSDD), i.e., a differential transmissions with variable stiffness actuators (VSAs), and presents a dynamic analysis. The analysis shows that, when variable stiffness actuators are used in coupled differential transmissions, the allowable stiffness range at the output of the system depends on the position of the springs inside the device. In particular, independent output joint stiffness can be obtained by dislocating the actuation from the elastic elements.",

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T1 - Analysis of a variable stiffness differential drive (VSDD)

AU - Fumagalli, Matteo

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

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PY - 2014/6

Y1 - 2014/6

N2 - In robotics, differential mechanisms are widely used when lightweightness and compactness are a requisite for the robot design. Moreover, the last decades have seen the rise of (variable) compliant acuators as important elements to perform safe interaction and dynamic tasks. This paper introduces a Variable Stiffness Differential Drive (VSDD), i.e., a differential transmissions with variable stiffness actuators (VSAs), and presents a dynamic analysis. The analysis shows that, when variable stiffness actuators are used in coupled differential transmissions, the allowable stiffness range at the output of the system depends on the position of the springs inside the device. In particular, independent output joint stiffness can be obtained by dislocating the actuation from the elastic elements.

AB - In robotics, differential mechanisms are widely used when lightweightness and compactness are a requisite for the robot design. Moreover, the last decades have seen the rise of (variable) compliant acuators as important elements to perform safe interaction and dynamic tasks. This paper introduces a Variable Stiffness Differential Drive (VSDD), i.e., a differential transmissions with variable stiffness actuators (VSAs), and presents a dynamic analysis. The analysis shows that, when variable stiffness actuators are used in coupled differential transmissions, the allowable stiffness range at the output of the system depends on the position of the springs inside the device. In particular, independent output joint stiffness can be obtained by dislocating the actuation from the elastic elements.

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KW - METIS-306045

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EP - 2411

BT - Proceedings of the International Conference on Robotics and Automation

PB - IEEE

CY - USA

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