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• W2181528045 abstract "In this presentation, several aspects related to the design of robots with variable stiffness actuation will be discussed considering both the mechanical and the control design point of view. For what concerns the mechanical design, the aim is to show the advantages and the flexibility obtained with the adoption of compliant flexures for the implementation of variable stiffness joints for robotic applications. Our design solution is based on a very compact joint frame with two actuators in antagonistic configuration, see Fig. 1(a) for an exploded view drawing. The actuators are connected to the moveable link by means of a couple of Compliant Transmission Elements (CTEs), one CTE for each actuator. In this way, by changing the CTEs several different joint stiffness characteristics can be implemented. A systematic procedure for the synthesis of a monolithic CTE that allows the achievement of the desired joint stiffness is discussed. The proposed design procedure permits to specify: (1) the desired joint stiffness range; (2) a suitable joint deflection/torque relation; (3) the maximum joint deflection from the rest conditions. The selection of the stiffness profile has been made in order to obtain suitable simplification of the control strategy. Then, the parameters that define the structure of the CTE are generated by means of an optimization procedure. With the aim of evaluating the performances of the proposed design procedure, the deflection/torque relation given as design specification is then compared both with the analytical characteristic of the pseudo-rigid body model of the CTE and with the data obtained from the FEM analysis. To demonstrate the feasibility of the proposed design methodology, a preliminary prototype of the CTE is presented, see Fig. 1(b). Current activities are devoted to the experimental verification of the CTE characteristics. Then, some issues related to the control of robotic manipulators with relevant and programmable variable joint stiffness are analyzed. To this end, the control strategies proposed in [1], [2], [3] are taken in consideration, and some crucial aspects are analyzed and suitable solutions are proposed. The discussion is centered on: (1) the sensory requirements and the state observation; (2) the controller structure and complexity; (3) the robustness with respect to uncertainties in the robot dynamics and environmental disturbances. Finally, some open problems related to the discussed points will be outlined." @default.
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• W2181528045 date "2010-01-01" @default.
• W2181528045 modified "2023-09-25" @default.
• W2181528045 title "Design and Control of Variable Stiffness Actuation Systems" @default.
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