This paper presents design, implementation and performance of a new Variable Stiffness Actuator (VSA) based on Harmonic Drives (VSA-HD), which is an improvement over past work reported in. While previous prototypes have been developed to demonstrate the effectiveness of the variable stiffness actuation principle and the possibility to develop a compact and reliable actuator, the VSA-HD has been obtained by exploring the performance of the enumeration of all VSA made out a basic components set (i.e. two prime movers, two harmonic-drive gears, and the output shaft) and all the feasible interconnections between them as presented in. Along this enumeration the VSA-HD conceptual layout has been selected as being good trade-off between mechanical complexity and overall performance. This paper discusses in depth the actuator mechanical layout, highlighting the main characteristics of the new design. A model for the actuator is introduced and validated by experimental results.

VSA-HD: From the Enumeration Analysis to the Prototypical Implementation

CATALANO, MANUEL GIUSEPPE;GRIOLI, GIORGIO;BONOMO, FABIO;BICCHI, ANTONIO
2010-01-01

Abstract

This paper presents design, implementation and performance of a new Variable Stiffness Actuator (VSA) based on Harmonic Drives (VSA-HD), which is an improvement over past work reported in. While previous prototypes have been developed to demonstrate the effectiveness of the variable stiffness actuation principle and the possibility to develop a compact and reliable actuator, the VSA-HD has been obtained by exploring the performance of the enumeration of all VSA made out a basic components set (i.e. two prime movers, two harmonic-drive gears, and the output shaft) and all the feasible interconnections between them as presented in. Along this enumeration the VSA-HD conceptual layout has been selected as being good trade-off between mechanical complexity and overall performance. This paper discusses in depth the actuator mechanical layout, highlighting the main characteristics of the new design. A model for the actuator is introduced and validated by experimental results.
2010
9781424466740
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/142876
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