VSA-HD: From the enumeration analysis to the prototypical implementation

M G Catalano, G Grioli, F Bonomo, R Schiavi, A Bicchi
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents design, implementation and performance of a new Variable Stiffness Actuator (VSA) based on Harmonic Drives (VSA-HD), which is an improvement over past work reported in [1], [2]. While previous prototypes have been developed to demonstrate the effectiveness of the variable stiffness actuation principle and the possibility to develop a compact and reliable actuator, the VSA-HD has been obtained by exploring the performance of the enumeration of all VSA made out a basic
more » ... ts set (i.e. two prime movers, two harmonic-drive gears, and the output shaft) and all the feasible interconnections between them as presented in [3] . Along this enumeration the VSA-HD conceptual layout has been selected as being good trade-off between mechanical complexity and overall performance. This paper discusses in depth the actuator mechanical layout, highlighting the main characteristics of the new design. A model for the actuator is introduced and validated by experimental results.
doi:10.1109/iros.2010.5649774 dblp:conf/iros/CatalanoGBSB10 fatcat:5ewfzaxcifejpn257rned4s4wi