The development of safe and dependable robots for physical human-robot interaction is actually changing the way robot are designed introducing several new technological issues. Outstanding examples are the adoption of soft covers and compliant transmissions or the definition of motion control laws that allow a compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. In this scenario, a growing interest is devoted to the study of variable stiffness joints. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness joint based on the use of compliant flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range along with the selection of the maximum joint deflection. In particular, this paper reports a systematic procedure for the synthesis of a fully-compliant mechanism used as a non-linear transmission, together with a preliminary design of the overall joint.

Design and modeling of variable stiffness joints based on compliant flexures / G., Palli; C., Melchiorri; Berselli, Giovanni; G., Vassura. - ELETTRONICO. - 2:(2010), pp. 1069-1078. (Intervento presentato al convegno ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 tenutosi a Montreal, QC, can nel 15-18 Agosto 2010) [10.1115/DETC2010-28425].

Design and modeling of variable stiffness joints based on compliant flexures

BERSELLI, Giovanni;
2010

Abstract

The development of safe and dependable robots for physical human-robot interaction is actually changing the way robot are designed introducing several new technological issues. Outstanding examples are the adoption of soft covers and compliant transmissions or the definition of motion control laws that allow a compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. In this scenario, a growing interest is devoted to the study of variable stiffness joints. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness joint based on the use of compliant flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range along with the selection of the maximum joint deflection. In particular, this paper reports a systematic procedure for the synthesis of a fully-compliant mechanism used as a non-linear transmission, together with a preliminary design of the overall joint.
2010
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Montreal, QC, can
15-18 Agosto 2010
2
1069
1078
G., Palli; C., Melchiorri; Berselli, Giovanni; G., Vassura
Design and modeling of variable stiffness joints based on compliant flexures / G., Palli; C., Melchiorri; Berselli, Giovanni; G., Vassura. - ELETTRONICO. - 2:(2010), pp. 1069-1078. (Intervento presentato al convegno ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 tenutosi a Montreal, QC, can nel 15-18 Agosto 2010) [10.1115/DETC2010-28425].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/853297
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