| contributor author | Gianluca Palli | |
| contributor author | Giovanni Berselli | |
| contributor author | Claudio Melchiorri | |
| contributor author | Gabriele Vassura | |
| date accessioned | 2017-05-09T00:46:02Z | |
| date available | 2017-05-09T00:46:02Z | |
| date copyright | August, 2011 | |
| date issued | 2011 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-28013#034501_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/147149 | |
| description abstract | Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human–robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design of a Variable Stiffness Actuator Based on Flexures | |
| type | Journal Paper | |
| journal volume | 3 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4004228 | |
| journal fristpage | 34501 | |
| identifier eissn | 1942-4310 | |
| keywords | Actuators | |
| keywords | Design | |
| keywords | Stiffness | |
| keywords | Engineering prototypes | |
| keywords | Deflection | |
| keywords | Torque | |
| keywords | Hinges AND Optimization | |
| tree | Journal of Mechanisms and Robotics:;2011:;volume( 003 ):;issue: 003 | |
| contenttype | Fulltext | |