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Design And Verification Of A Compact Variable Stiffness Actuator With A Very Large Range Of Stiffness, Daniel Garces
Design And Verification Of A Compact Variable Stiffness Actuator With A Very Large Range Of Stiffness, Daniel Garces
Master's Theses (2009 -)
Current conventional robots require high stiffness joints to provide absolute positioning accuracy in free space which also causes problems when operating in constrained space. To circumvent these problems, Variable Stiffness Actuators (VSAs) can be used to vary their stiffness to suit the task being performed. A new VSA was designed to provide a very large range of stiffness in a compact size. The Arched Flexure VSA uses a cantilevered beam acting as the flexure with a variable point of contact. It allows the joint to have continuous variable stiffness, have zero stiffness for a small range of motion, and rapid …