Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control

Stefan Groothuis, Raffaella Carloni, Stefano Stramigioli

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

    8 Citations (Scopus)
    2 Downloads (Pure)

    Abstract

    This paper presents a proof of concept of a variable stiffness actuator (VSA) that uses only one (high power) input motor. In general, VSAs use two (high power) motors to be able to control both the output position and the output stiffness, which possibly results in a heavy, and bulky system. In this work, two small and light-weight clutches are used to lock either one of the degrees of freedom, allowing the other to be controlled by the input motor. These clutches are realized by friction belts that can engage to a surrounding cylinder. The clutches are operated by solenoids, and small bistable mechanisms ensure that no electrical energy is lost in keeping a degree of freedom locked or unlocked. An experiment with a prototype of the system is performed which validates the proof of concept of this Single Motor–VSA.
    Original languageEnglish
    Title of host publicationProceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages234-239
    Number of pages6
    ISBN (Print)978-1-5090-2065-2
    DOIs
    Publication statusPublished - Jul 2016
    Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - The Banff Centre, Alberta
    Duration: 12 Jul 201615 Jul 2016

    Conference

    Conference2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
    Abbreviated titleAIM
    CityAlberta
    Period12/07/1615/07/16

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  • Cite this

    Groothuis, S., Carloni, R., & Stramigioli, S. (2016). Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control. In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 234-239). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/AIM.2016.7576772