文章基本信息

标题：On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture
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作者：Matteo Malosio ; Francesco Corbetta ; Francisco Ramìrez Reyes 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2019
卷号：8
期号：2
页码：39-52
DOI：10.3390/robotics8020039
出版社：MDPI Publishing
摘要：Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness.
关键词：parallel kinematic architecture; agonist-antagonist variable-stiffness actuator; tendon-driven mechanism; stiffness analysis; planar movements parallel kinematic architecture ; agonist-antagonist variable-stiffness actuator ; tendon-driven mechanism ; stiffness analysis ; planar movements