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 language | English |
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Title of host publication | Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
Place of Publication | USA |
Publisher | IEEE ROBOTICS AND AUTOMATION SOCIETY |
Pages | 234-239 |
Number of pages | 6 |
ISBN (Print) | 978-1-5090-2065-2 |
DOIs | |
Publication status | Published - Jul 2016 |
Event | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - The Banff Centre, Alberta Duration: 12 Jul 2016 → 15 Jul 2016 |
Conference
Conference | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
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Abbreviated title | AIM |
City | Alberta |
Period | 12/07/16 → 15/07/16 |