University of Sussex
Browse

Variable stiffness multi-joint mechanism: design, model and validation

Download (2.73 MB)
conference contribution
posted on 2025-02-04, 12:52 authored by Benedict Fletcher, Romeo Glovnea, Nicolas HerzigNicolas Herzig
Compliant mechanisms have been used in several robotics applications, including locomotion and grasping. Vari- able stiffness joints are part of these compliant mechanisms and generally use one passive element per joint. This paper presents the design, model, and characterization of a Variable Stiffness Multi-joint Mechanism (VSMM) using a single carbon fibre rod as its passive element. The VSMM employs a variable lever mechanism, allowing the modulation of the joints’ stiffness. We present an analytical model of the mechanism, providing insights into its mechanical behaviour and enabling the prediction of stiffness variations under different design parameters. Through experimental testing, the mechanism demonstrates a stiffness range of 0.19N/ mm to 0.27N/ mm, offering variable compliance that can change to suit specific task requirements.

Funding

Flow control system to simplify and enhance open-loop control of soft pneumatic actuators : ROYAL SOCIETY | RGS\R2\222228

History

Publication status

  • Published

File Version

  • Accepted version

ISSN

2837-5149

Publisher

IEEE

Event name

2024 12th International Conference on Control, Mechatronics and Automation (ICCMA)

Event location

London, UK

Event type

conference

Event start date

2024-11-11

Event finish date

2024-11-13

Place of publication

London, UK

ISBN

9798331517519

Department affiliated with

  • Engineering and Design Publications

Institution

University of Sussex

Full text available

  • Yes

Peer reviewed?

  • Yes

Usage metrics

    University of Sussex (Publications)

    Categories

    No categories selected

    Licence

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC