Elastic energy storage in leaf springs for a lever-arm based variable stiffness actuator

Eamon Barrett, Matteo Fumagalli, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    8 Citations (Scopus)

    Abstract

    The increasing use of Variable Stiffness Actuators (VSAs) in robotic joints is helping robots to meet the demands of human-robot interaction, requiring high safety and adaptability. The key feature of a VSA is the ability to exploit internal elastic elements to obtain a variable output stiffness. These allow the joints to store mechanical energy supplied through interaction with the environment and make the system more robust, efficient, and safe. This paper discusses the design of leaf springs for a sub-class of VSAs that use variable lever arm ratios as means to change their output stiffness. Given the trade-off between compactness and the maximum energy storage capacity, the internal springs’ dimensions and material choice are assessed through a theoretical analysis and practical experiments.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages537-542
    Number of pages6
    DOIs
    Publication statusPublished - Oct 2016
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
    Duration: 9 Oct 201614 Oct 2016
    http://www.iros2016.org/

    Publication series

    NameProceedings of the International Conference on Intelligent Robots and Systems
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0866
    ISSN (Electronic)2153-0866

    Conference

    Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    Abbreviated titleIROS
    CountryKorea, Republic of
    CityDaejeon
    Period9/10/1614/10/16
    Internet address

    Keywords

    • EWI-27577
    • IR-103141
    • METIS-320937

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