A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept
The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by ca...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2014-04-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2076-0825/3/2/20 |
| _version_ | 1818138718930731008 |
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| author | Maarten Weckx Glenn Mathijssen Idris Si Mhand Benali Raphaël Furnemont Ronald Van Ham Dirk Lefeber Bram Vanderborght |
| author_facet | Maarten Weckx Glenn Mathijssen Idris Si Mhand Benali Raphaël Furnemont Ronald Van Ham Dirk Lefeber Bram Vanderborght |
| author_sort | Maarten Weckx |
| collection | DOAJ |
| description | The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by cascading single-degree of freedom actuators. The innovation presented in this work is a two-degree of freedom variable stiffness actuator using the mechanically adjustable and controllable equilibrium position actuator (MACCEPA) concept. The presented actuator is not a cascade of two single-degree of freedom actuators, but centralizes the two degrees of freedom in one single joint. Equilibrium position and stiffness of the actuator are, furthermore, independently controllable in both degrees of freedom. The design and experimental validation of the actuator are discussed in this work. The independence of adjusting the equilibrium position and stiffness of the actuator are experimentally validated. The results show that the measured characteristics of the actuator sufficiently match the theoretically calculated ones. Future work includes implementing the presented two-degree of freedom actuator in an application, like a bipedal robot or a robotic arm. |
| first_indexed | 2024-12-11T10:16:39Z |
| format | Article |
| id | doaj.art-37892760e17b469495a8522632ffe569 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-12-11T10:16:39Z |
| publishDate | 2014-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-37892760e17b469495a8522632ffe5692022-12-22T01:11:36ZengMDPI AGActuators2076-08252014-04-0132204010.3390/act3020020act3020020A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA ConceptMaarten Weckx0Glenn Mathijssen1Idris Si Mhand Benali2Raphaël Furnemont3Ronald Van Ham4Dirk Lefeber5Bram Vanderborght6Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumDepartment of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, Elsene 1050, BelgiumThe current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by cascading single-degree of freedom actuators. The innovation presented in this work is a two-degree of freedom variable stiffness actuator using the mechanically adjustable and controllable equilibrium position actuator (MACCEPA) concept. The presented actuator is not a cascade of two single-degree of freedom actuators, but centralizes the two degrees of freedom in one single joint. Equilibrium position and stiffness of the actuator are, furthermore, independently controllable in both degrees of freedom. The design and experimental validation of the actuator are discussed in this work. The independence of adjusting the equilibrium position and stiffness of the actuator are experimentally validated. The results show that the measured characteristics of the actuator sufficiently match the theoretically calculated ones. Future work includes implementing the presented two-degree of freedom actuator in an application, like a bipedal robot or a robotic arm.http://www.mdpi.com/2076-0825/3/2/20compliant actuatorvariable stiffnesstwo degrees of freedomMACCEPA |
| spellingShingle | Maarten Weckx Glenn Mathijssen Idris Si Mhand Benali Raphaël Furnemont Ronald Van Ham Dirk Lefeber Bram Vanderborght A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept Actuators compliant actuator variable stiffness two degrees of freedom MACCEPA |
| title | A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept |
| title_full | A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept |
| title_fullStr | A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept |
| title_full_unstemmed | A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept |
| title_short | A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept |
| title_sort | two degree of freedom variable stiffness actuator based on the maccepa concept |
| topic | compliant actuator variable stiffness two degrees of freedom MACCEPA |
| url | http://www.mdpi.com/2076-0825/3/2/20 |
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