Variable Stiffness Mechanism using a Cam Profile

Floris van Ruitenbeek, Boi Okken, Wesley Roozing*

*Corresponding author for this work

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

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Abstract

We present a design optimisation method for the routing of tendons in a tendon-driven mechanism with the objective of maximising force transmission efficiency (FTE). We formulate a friction model for the different routing elements, accounting for routing point radii and slipping/rolling contacts. We then construct a numerical design optimisation problem to optimise the design parameters, routing point locations, for a given tendon routing topology. We apply the method to the design of an existing tendon-driven gripper. The results show that frictional losses can be reduced by approximately half compared to the baseline design, and that taking into account the routing point radii is indeed of significant influence.
Original languageEnglish
Title of host publicationEuropean Robotics Forum 2024 - 15th ERF
EditorsCristian Secchi, Lorenzo Marconi
PublisherSpringer Nature
Pages76-80
Number of pages5
Volume32
ISBN (Electronic)978-3-031-76424-0
ISBN (Print)978-3-031-76423-3, 978-3-031-76426-4
DOIs
Publication statusPublished - 1 Jan 2025
EventEuropean Robotics Forum, ERF 2024: ROBOTICS UNITES: People, Countries, Disciplines - Via della Fiera 23 – 47923 , Rimini, Italy
Duration: 13 Mar 202415 Mar 2024
https://erf2024.eu/

Publication series

NameSpringer Proceedings in Advanced Robotics (SPAR)
PublisherSpringer
Volume32
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

ConferenceEuropean Robotics Forum, ERF 2024
Abbreviated titleERF 2024
Country/TerritoryItaly
CityRimini
Period13/03/2415/03/24
Internet address

Keywords

  • 2025 OA procedure
  • Compliance
  • VSA
  • Cam profile
  • Optimisation
  • Modeling and simulation
  • Bondgraph
  • Series Elastic Actuation (SEA)
  • Variable stiffness

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