Amir Jafari and Nima Jamshidi
Stiffness adjustment mechanism, energy storage, coupling
In this paper, an analytical approach is presented to compare two important determinants in different stiffness adjustment mechanisms (SAMs); level of accessibility to the energy storage and force–stiffness interaction. These two determinants can actually clarify fitness of variable stiffness actuators (VSAs) for different applications based on their SAMs. Different SAMs have been categorized into antagonistic and series groups. Then antagonistic group is subdivided into three different classes while the series group splits into four classes. In addition, four different springs are considered in analyzing different classes. The obtained results can present a guideline to design a SAM and nonlinearity of the spring in order to enhance the level of accessibility to the energy storage in a SAM.
Important Links:
Go Back
