Abstract
Human-robot interaction applications require compliant actuation for enhanced safety and comfort. While compliant actuators were adopted in many robots of serial configurations, they are rarely used in parallel robots. This paper introduces a novel planar parallel robot (PPR) designed with variable stiffness actuators (VSAs). The stiffness models for the VSA-based parallel robot are developed, upon which simulations are conducted to reveal stiffness distribution over the entire workspace. The models were experimentally validated for both joint and Cartesian stiffness.
| Original language | English |
|---|---|
| Title of host publication | Mechanism Design for Robotics - MEDER 2024 |
| Editors | Erwin-Christian Lovasz, Valentin Ciupe, Marco Ceccarelli |
| Number of pages | 8 |
| Publisher | Springer |
| Publication date | 2024 |
| Pages | 291-298 |
| ISBN (Print) | 9783031673825 |
| DOIs | |
| Publication status | Published - 2024 |
| Event | 6th IFToMM International Symposium on Mechanism Design for Robotics, MEDER 2024 - Timisoara, Romania Duration: 27 Jun 2024 → 29 Jun 2024 |
Conference
| Conference | 6th IFToMM International Symposium on Mechanism Design for Robotics, MEDER 2024 |
|---|---|
| Country/Territory | Romania |
| City | Timisoara |
| Period | 27/06/2024 → 29/06/2024 |
| Series | Mechanisms and Machine Science |
|---|---|
| Volume | 166 MMS |
| ISSN | 2211-0984 |
Bibliographical note
Publisher Copyright:© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
Keywords
- Cartesian stiffness
- planar parallel robot (PPR)
- variable stiffness actuator (VSA)