Abstract
Variable stiffness joints are devices that allow changing the joint stiffness of a mechanism. The development of this joint has increased, and various applications have emerged, most to improve human-robot interaction. This paper presents a proposal design of a new variable stiffness joint (VSJ). The working principle consists of antagonist extension springs with a rack and pinion mechanism. The springs are attached to a set of racks that allow varying the spring length, the main factor in varying the stiffness. The racks engage with a set of gears; one has a motor attached, which is responsible for varying the joint stiffness. Its mathematical model describes the joint behavior to maintain a constant force at the end of a link. Its simulation is performed with a constant force placed at the end of the link to evaluate the joint’s performance in a rotational situation.
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Contreras-Calderón, M.G., Laribi, M.A., Castillo-Castañeda, E. (2021). New Variable Stiffness Joint (VSJ): Study and Simulation. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_30
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DOI: https://doi.org/10.1007/978-3-030-75271-2_30
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