The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification

Stefan Groothuis, Giacomo Rusticelli, Andrea Zucchelli, Stefano Stramigioli, Raffaella Carloni

Research output: Contribution to journalArticleAcademicpeer-review

67 Citations (Scopus)

Abstract

In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the actuator output, i.e., a lever arm with variable pivot point position. The pivot point is moved by a planetary gears mechanism, which acquires a straight motion from only rotations, thereby providing a low-friction transmission. The working principle details of the vsaUT-II are elaborated and the design is presented. The actuator dynamics are described by means of a lumped parameter model. The relevant parameters of the actuator are estimated and identified in the physical setup and measurements are used to validate both the design and the derived model.
Original languageUndefined
Pages (from-to)589-597
Number of pages9
JournalIEEE/ASME transactions on mechatronics
Volume19
Issue number2
DOIs
Publication statusPublished - Apr 2014

Keywords

  • EWI-23359
  • IR-86213
  • METIS-297645
  • CE-Advanced Robotics

Cite this

@article{bcf2179cd7314d8aaa44949009f56d5b,
title = "The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification",
abstract = "In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the actuator output, i.e., a lever arm with variable pivot point position. The pivot point is moved by a planetary gears mechanism, which acquires a straight motion from only rotations, thereby providing a low-friction transmission. The working principle details of the vsaUT-II are elaborated and the design is presented. The actuator dynamics are described by means of a lumped parameter model. The relevant parameters of the actuator are estimated and identified in the physical setup and measurements are used to validate both the design and the derived model.",
keywords = "EWI-23359, IR-86213, METIS-297645, CE-Advanced Robotics",
author = "Stefan Groothuis and Giacomo Rusticelli and Andrea Zucchelli and Stefano Stramigioli and Raffaella Carloni",
note = "eemcs-eprint-23359",
year = "2014",
month = "4",
doi = "10.1109/TMECH.2013.2251894",
language = "Undefined",
volume = "19",
pages = "589--597",
journal = "IEEE/ASME transactions on mechatronics",
issn = "1083-4435",
publisher = "IEEE",
number = "2",

}

The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification. / Groothuis, Stefan; Rusticelli, Giacomo; Zucchelli, Andrea; Stramigioli, Stefano; Carloni, Raffaella.

In: IEEE/ASME transactions on mechatronics, Vol. 19, No. 2, 04.2014, p. 589-597.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification

AU - Groothuis, Stefan

AU - Rusticelli, Giacomo

AU - Zucchelli, Andrea

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

N1 - eemcs-eprint-23359

PY - 2014/4

Y1 - 2014/4

N2 - In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the actuator output, i.e., a lever arm with variable pivot point position. The pivot point is moved by a planetary gears mechanism, which acquires a straight motion from only rotations, thereby providing a low-friction transmission. The working principle details of the vsaUT-II are elaborated and the design is presented. The actuator dynamics are described by means of a lumped parameter model. The relevant parameters of the actuator are estimated and identified in the physical setup and measurements are used to validate both the design and the derived model.

AB - In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the actuator output, i.e., a lever arm with variable pivot point position. The pivot point is moved by a planetary gears mechanism, which acquires a straight motion from only rotations, thereby providing a low-friction transmission. The working principle details of the vsaUT-II are elaborated and the design is presented. The actuator dynamics are described by means of a lumped parameter model. The relevant parameters of the actuator are estimated and identified in the physical setup and measurements are used to validate both the design and the derived model.

KW - EWI-23359

KW - IR-86213

KW - METIS-297645

KW - CE-Advanced Robotics

U2 - 10.1109/TMECH.2013.2251894

DO - 10.1109/TMECH.2013.2251894

M3 - Article

VL - 19

SP - 589

EP - 597

JO - IEEE/ASME transactions on mechatronics

JF - IEEE/ASME transactions on mechatronics

SN - 1083-4435

IS - 2

ER -