Abstract: This paper proposes a compact and reconfigurable variable stiffness actuator (VSA) using disc spring which is named as SDS-VSA (symmetrical disc spring variable stiffness actuator). To enhance the actuator’s torque density, ...

Abstract: To obtain the closed-form forward kinematics of parallel robots, researchers use algebra-based method to transform and simplify the constraint equations. However, this method requires a complicated derivation that leads ...