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