Relevant bibliographies by topics / Variable-Stiffness Compliant Mechanism

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Variable-Stiffness Compliant Mechanism'

Author: Grafiati
Published: 4 June 2021
Last updated: 17 February 2022

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Journal articles on the topic "Variable-Stiffness Compliant Mechanism"

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HAYASHI, Kouji, Jyunya ABE, Hisashi NAITO, Takeshi MATSUMOTO, and Masao TANAKA. "307 Optimum Design of Variable Stiffness Structure with Compliant Mechanism." Proceedings of Conference of Kansai Branch 2010.85 (2010): _3–13_. http://dx.doi.org/10.1299/jsmekansai.2010.85._3-13_.

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H Lugo, Jesus. "Simultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator." International Journal of Robotic Computing 1, no. 2 (December 1, 2019): 80–97. http://dx.doi.org/10.35708/rc1868-126252.

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Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.
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Zhang, Xiang, Twan Capehart, and Carl A. Moore. "Design and Analysis of a Novel Variable Stiffness Joint for Robot." MATEC Web of Conferences 249 (2018): 03005. http://dx.doi.org/10.1051/matecconf/201824903005.

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As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been designed by scientists. But most of the structures are complex. By studying and comparing many different mechanism designs of variable stiffness joint, we recognize the need to miniaturization and reduce weight of variable stiffness joints with high frequency operation. To address this, need a continuously Variable Compliant Joint (CVCJ) was designed. The core of the joint is based on the structure of the spherical continuously variable transmission (SCVT) which is the catalyst to change the stiffness continuously and smoothly. In this paper, we present a compact variable stiffness joint structure to meet the volume and weight requirements of the future robotic systems. We show the connection between the joint stiffness coefficient and the structure parameters by making mathematical analysis, modelling and simulation for the system to verify the ability to satisfy the base application requirements of the compliant joint.
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Zeng, Xianpai, Cart Hurd, Hai-Jun Su, Siyang Song, and Junmin Wang. "A parallel-guided compliant mechanism with variable stiffness based on layer jamming." Mechanism and Machine Theory 148 (June 2020): 103791. http://dx.doi.org/10.1016/j.mechmachtheory.2020.103791.

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Cestari, M., D. Sanz-Merodio, J. C. Arevalo, and E. Garcia. "ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton." Industrial Robot: An International Journal 41, no. 6 (October 20, 2014): 518–26. http://dx.doi.org/10.1108/ir-06-2014-0350.

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Purpose – The purpose of this study is to present a variable stiffness actuator, one of whose main features is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as a force-controlled actuator, this actuator with Adjustable Rigidity and Embedded Sensor (ARES) is intended to be implemented in the knee of the ATLAS exoskeleton for children to allow the exploitation of the intrinsic dynamic during the locomotion cycle. Design/methodology/approach – A set of simulations were performed to evaluate the behavior of the actuator mechanism and a prototype of the variable impedance actuator was incorporated into the exoskeleton’s knee and evaluations of the torque measurements capabilities along with the rigidity adjustments were made. Findings – Mass and inertia of the actuator are minimized by the compact design and the utilization of the different component for more than one utility. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected. Originality/value – In the actuator, the compliant elements simultaneously allow measuring of the torque exerted by the join. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected.
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Ayoubi, Younsse, Med Amine Laribi, Marc Arsicault, and Saïd Zeghloul. "Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations." Applied Sciences 10, no. 11 (May 30, 2020): 3810. http://dx.doi.org/10.3390/app10113810.

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Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes—high and low stiffness—V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human–robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM’s effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, MathWorks, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations.
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Mekaouche, Adel, Frédéric Chapelle, and Xavier Balandraud. "A compliant mechanism with variable stiffness achieved by rotary actuators and shape-memory alloy." Meccanica 53, no. 10 (March 29, 2018): 2555–71. http://dx.doi.org/10.1007/s11012-018-0844-0.

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Ayoubi, Younsse, Med Laribi, Said Zeghloul, and Marc Arsicault. "V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints." Robotics 8, no. 1 (March 6, 2019): 18. http://dx.doi.org/10.3390/robotics8010018.

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Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks.
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Zou, Liangliang, Jin Yuan, Xuemei Liu, Jinguang Li, Ping Zhang, and Ziru Niu. "Burgers viscoelastic model-based variable stiffness design of compliant clamping mechanism for leafy greens harvesting." Biosystems Engineering 208 (August 2021): 1–15. http://dx.doi.org/10.1016/j.biosystemseng.2021.05.007.

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Wang, Mingyuan, and Lubin Hang. "Research and application of variable DOF compliant five-bar mechanism based on novel compliant torsion joint in vehicle side door latch." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 19 (April 20, 2020): 3789–808. http://dx.doi.org/10.1177/0954406220917423.

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In this paper, a novel compliant joint with torsion spring (CJTS) is proposed in order to realize the power release (Note: The “power release” feature means that the closure system with a latch assembly including a pawl-ratchet release mechanism is controlled by at least one electric actuator.) feature of the vehicle side door latch. A new type of variable degree of freedom (DOF) compliant five-bar mechanism (VDCM) based on the novel compliant joint is constructed. The novel compliant mechanism is characterized by multiple motion modes of planar five-bar mechanism and four-joint, crank-shaper, crank-oscillating block mechanism. These motion modes can be switched through the different choices of driving joints and limiting stoppers. This compliant mechanism is effectively implanted into a vehicle side door latch as a sub-branch to perform power release function. The force-adaptive characteristic of the VDCM ensures compatibility with extant manual release branches. Drifting displacement of the CJTS’s torsion spring rotation center in the groove is proposed as a compliant index to describe the compatibility and force-adaptive characteristics under various working modes. The relationship between torsion spring stiffness and mechanism characteristic point motion trajectory or position recovery time duration or motion accuracy is studied. The results show that the introduction of compatibility and force-adaptive characteristics is able to reduce the shaking forces exerted on the mechanism frame. The shaking forces will be further reduced by changing equivalent mass center position of the component. Furthermore, the practicability of the novel compliant mechanism is experimentally validated on the force-displacement test platform. The work in this paper provides a reference for the multi-mode motion mechanical design in a confined space of the latch.
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Dissertations / Theses on the topic "Variable-Stiffness Compliant Mechanism"

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Robinson, Jacob Marc. "A Compliant Mechanism-Based Variable-Stiffness Joint." BYU ScholarsArchive, 2015. https://scholarsarchive.byu.edu/etd/5265.

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A review of current variable-stiffness actuators reveals a need for more simple, cost effective, and lightweight designs that can be easily incorporated into a variety of human-interactive robot platforms. This thesis considers the potential use of compliant mechanisms to improve the performance of variable-stiffness actuators. The advantages and disadvantages of various concepts using compliant mechanisms are outlined, along with ideas for further exploration. A new variable-stiffness actuator that uses a compliant flexure as the elastic element has been modeled, built, and tested. This new design involves a variable stiffness joint that makes use of a novel variable transmission. A prototype has been built and tested to verify agreement with the model which shows a reasonable range of stiffness and good repeatability. Ideas for further exploration are identified.
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Hawks, Jeffrey C. "A Variable-Stiffness Compliant Mechanism for Stiffness-Controlled Haptic Interfaces." BYU ScholarsArchive, 2014. https://scholarsarchive.byu.edu/etd/4356.

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In this research a variable-stiffness compliant mechanism was developed to generate variable force-displacement profiles at the mechanisms coupler point. The mechanism is based on a compliant Roberts straight-line mechanism, and the stiffness is varied by changing the effective length of the compliant links with an actuated slider. The variable-stiffness mechanism was used in a one-degree-of-freedom haptic interface to demonstrate the effectiveness of varying the stiffness of a compliant mechanism. Unlike traditional haptic interfaces, in which the force is controlled using motors and rigid links, the haptic interface developed in this work displays haptic stiffness via the variable-stiffness compliant mechanism. The force-deflection behavior of the mechanismwas analyzed using the Pseudo-Rigid Body Model (PRBM), and two key parameters, KQ and g,were optimized using finite element analysis (FEA) to match the model with the behavior of the device. One of the key features of the mechanism is that the inherent return-to-zero behavior of the compliant mechanism was used to provide the stiffness feedback felt by the user. A prototype haptic interface was developed capable of simulating the force-displacement profile of Lachmans Test performed on an injured ACL knee. The compliant haptic interface was capable of displaying stiffnesses between 4200 N/m and 7200 N/m.
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Hu, Ruiqi. "A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533.

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Niemeier, William. "Design and Testing of a Linear Compliant Mechanism with Adjustable Force Output." Scholar Commons, 2018. http://scholarcommons.usf.edu/etd/7203.

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This thesis presents a novel compliant mechanism with adjustable force output. The force comes from the bending of a rectangular cross section beam within the mechanism. By rotating this beam with a stepper motor, the force output of the mechanism changes. A model was made to simulate this mechanism, and a prototype was made based off of this data. A test apparatus was constructed around this mechanism, and a series of tests were performed. These tests adjusted parameters such as beam rotation speed and weight in order to characterize the system. Adjustments were made based on this information and the mechanism was refined. The results suggest the following. The speed has a negligible effect on the behavior of the system, while the weight, length of top link r3, and position of bottom stop have a significant effect. Also, there is a large, consistent amount of hysteresis in the system. This is likely caused by the beam storing torsion or friction from the slider.
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She, Yu. "Compliant robotic arms for inherently safe physical human-robot interaction." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1541335591178684.

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Azadi, Sohi Mojtaba. "Kinematically singular pre-stressed mechanisms as new semi-active variable stiffness springs for vibration isolation." Phd thesis, 2010. http://hdl.handle.net/10048/1490.

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Researchers have offered a variety of solutions for overcoming the old and challenging problem of undesired vibrations. The optimum vibration-control solution that can be a passive, semi-active or active solution, is chosen based on the desired level of vibration-control, the budget and the nature of the vibration source. Mechanical vibration-control systems, which work based on variable stiffness control, are categorized as semi-active solutions. They are advantageous for applications with multiple excitation frequencies, such as seismic applications. The available mechanical variable stiffness systems that are used for vibration-control, however, are slow and usually big, and their slowness and size have limited their application. A new semi-active variable stiffness solution is introduced and developed in this thesis to address these challenges by providing a faster vibration-control system with a feasible size. The new solution proposed in this thesis is a semi-active variable stiffness mount/isolator called the antagonistic Variable Stiffness Mount (VSM), which uses a variable stiffness spring called the Antagonistic Variable stiffness Spring (AVS). The AVS is a kinematically singular prestressable mechanism. Its stiffness can be changed by controlling the prestress of the mechanisms links. The AVS provides additional stiffness for a VSM when such stiffness is needed and remains inactive when it is not needed. The damping of the VSM is constant and an additional constant stiffness in the VSM supports the deadweight. Two cable-mechanisms - kinematically singular cable-driven mechanisms and Prism Tensegrities - are developed as AVSs in this thesis. Their optimal configurations are identified and a general formulation for their prestress stiffness is provided by using the notion of infinitesimal mechanism. The feasibility and practicality of the AVS and VSM are demonstrated through a case study of a typical engine mount by simulation of the mathematical models and by extensive experimental analysis. A VSM with an adjustable design, a piezo-actuation mechanism and a simple on-off controller is fabricated and tested for performance evaluation. The performance is measured based on four criteria: (1) how much the VSM controls the displacement near the resonance, (2) how well the VSM isolates the vibration at high frequencies, (3) how well the VSM controls the motion caused by shock, and (4) how fast the VSM reacts to control the vibration. For this evaluation, first the stiffness of the VSM was characterized through static and dynamic tests. Then performance of the VSM was evaluated and compared with an equivalent passive mount in two main areas of transmissibility and shock absorption. The response time of the VSM is also measured in a realistic scenario.
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Book chapters on the topic "Variable-Stiffness Compliant Mechanism"

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Hu, R., V. Venkiteswaran, and H. J. Su. "A Variable Stiffness Robotic Arm Using Linearly Actuated Compliant Parallel Guided Mechanism." In Mechanism Design for Robotics, 33–40. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00365-4_5.

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Boyraz Baykas, Pinar, Ertugrul Bayraktar, and Cihat Bora Yigit. "Safe Human-Robot Interaction Using Variable Stiffness, Hyper-Redundancy, and Smart Robotic Skins." In Service Robotics. IntechOpen, 2020. http://dx.doi.org/10.5772/intechopen.92693.

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In service robotics, safe human-robot interaction (HRI) is still an open research topic, requiring developments both in hardware and in software as well as their integration. In UMAY1 and MEDICARE-C2projects, we addressed both mechanism design and perception aspects of a framework for safe HRI. Our first focus was to design variable stiffness joints for the robotic neck and arm to enable inherent compliance to protect a human collaborator. We demonstrate the advantages of variable stiffness actuators (VSA) in compliancy, safety, and energy efficiency with applications in exoskeleton and rehabilitation robotics. The variable-stiffness robotic neck mechanism was later scaled down and adopted in the robotic endoscope featuring hyper-redundancy. The hyper-redundant structures are more controllable, having efficient actuation and better feedback. Lastly, a smart robotic skin is introduced to explain the safety support via enhancement of tactile perception. Although it is developed for a hyper-redundant endoscopic robotic platform, the artificial skin can also be integrated in service robotics to provide multimodal tactile feedback. This chapter gives an overview of systems and their integration to attain a safer HRI. We follow a holistic approach for inherent compliancy via mechanism design (i.e., variable stiffness), precise control (i.e., hyper-redundancy), and multimodal tactile perception (i.e., smart robotic-skins).
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Conference papers on the topic "Variable-Stiffness Compliant Mechanism"

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Hawks, Jeffrey C., Mark B. Colton, and Larry L. Howell. "A Variable-Stiffness Straight-Line Compliant Mechanism." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46650.

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In this research a variable-stiffness compliant mechanism was developed to generate variable force-displacement profiles at the mechanism’s coupler point. The mechanism is based on a compliant Robert’s straight-line mechanism, and the stiffness is varied by changing the effective length of the compliant links with an actuated slider. The force-deflection behavior of the mechanism was analyzed using the Pseudo-Rigid Body Model (PRBM), and two key parameters, KΘ and γ, were optimized using finite element analysis (FEA) to match the model with the measured behavior of the mechanism. The variable-stiffness mechanism was used in a one-degree-of-freedom haptic interface (force-feedback device) to demonstrate the effectiveness of varying the stiffness of a compliant mechanism. Unlike traditional haptic interfaces, in which the force is controlled using motors and rigid links, the haptic interface developed in this work displays haptic stiffness via the variable-stiffness compliant mechanism. One of the key features of the mechanism is that the inherent return-to-zero behavior of the compliant mechanism was used to provide the stiffness feedback felt by the user. A prototype haptic interface was developed capable of simulating the force-displacement profile of Lachman’s Test performed on an injured ACL knee. The compliant haptic interface was capable of displaying stiffnesses between 4200 N/m and 7200 N/m.
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Zhang, Zhuang, Genliang Chen, Lingyu Kong, and Hao Wang. "Design and Analysis of a Cross Trapezoid Spatial Compliant Device With Variable Stiffness." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85691.

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This paper presents a novel design of spatial compliant device with variable stiffness. The main concept of the device is to have two elastic trapezoid four-bar linkages arranging in orthogonal. The tool side of the device can switch between totally stiff and compliant by changing the arrangement of leaf springs and passive joints. Based on the principal axes decomposition of structural compliance matrix, the leaf springs are approximated by hyper-redundant linkages with rigid bodies connected by passive elastic joints. Hence, the nonlinear large deflection problems of the leaf springs can be solved efficiently in a mechanism way. In order to demonstrate the compliance of the proposed device, a numerical simulation is provided using the proposed approach. The result shows that the leaf springs in the compliant device are easy to be deformed and can not generate great force. Due to these characteristics, as an end-of-arm tool, the device has the ability to prevent hard collisions under the compliant status and finish precise positioning under the stiff status.
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Palli, Gianluca, Claudio Melchiorri, Giovanni Berselli, and Gabriele Vassura. "Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28425.

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The development of safe and dependable robots for physical human-robot interaction is actually changing the way robot are designed introducing several new technological issues. Outstanding examples are the adoption of soft covers and compliant transmissions or the definition of motion control laws that allow a compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. In this scenario, a growing interest is devoted to the study of variable stiffness joints. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness joint based on the use of compliant flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range along with the selection of the maximum joint deflection. In particular, this paper reports a systematic procedure for the synthesis of a fully-compliant mechanism used as a non-linear transmission, together with a preliminary design of the overall joint.
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Galloway, Kevin C., Jonathan E. Clark, and Daniel E. Koditschek. "Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-41318.

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Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a variable stiffness leg to tune the natural frequency of the system for effective gait control. In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new approach specifically for autonomous dynamic legged locomotion. We introduce a simple leg model that captures the spatial compliance of the tunable leg in three dimensions. Lastly, we present the design and manufacture of the multi-directional variable stiffness legs, and experimentally validate their correspondence to the proposed model.
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Soliman, Ali M., Irfan Hussain, Mohammad I. Awad, and Dongming Gan. "Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22650.

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Abstract In this paper, we present a novel variable-stiffness joint for a walking assistance ankle exoskeleton. This design is adaptive to user needs in the sense that it can aid in different types of motion, i.e. walking, jogging and running, through different stiffness levels. We created a concept that utilizes multiple springs that could contort into different orientations in order to create a fully compliant ankle exoskeleton. The design provides a wide range of assistive torques without constant replacement of parts or springs for each type of activity. This design can be utilized by a wide range of people engaging in different types of activities. Those could be individuals with an active lifestyle or the elderly suffering from muscular atrophy.
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Buschkoetter, Kyle, and Ashok Midha. "Design of a Compliant Mechanism to Generate an Arbitrary Nonlinear Force-Deflection Profile." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-86360.

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This paper presents a compliant mechanism that can generate a wide range of force-deflection profiles. This partially compliant mechanism is comprised of a wedge cam with a compliant follower. The designer specifies the material and geometric properties of the compliant segment, as well as a desired force-deflection profile. A cam surface is then synthesized that helps generate this profile. The synthesis method is validated experimentally with the help of two case studies. Some possible areas of application include robotics, variable stiffness actuators, electrical connectors, design for automotive crashworthiness, and variable resistance exercise equipment.
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Bilancia, Pietro, Giovanni Berselli, Umberto Scarcia, and Gianluca Palli. "Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment." In ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/smasis2018-8053.

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Industrial robots are commonly designed to be very fast and stiff in order to achieve extremely precise position control capabilities. Nonetheless, high speeds and power do not allow for a safe physical interaction between robots and humans. With the exception of the latest generation lightweight arms, purposely design for human-robot collaborative tasks, safety devices shall be employed when workers enter the robots workspace, in order to reduce the chances of injuries. In this context, Variable Stiffness Actuators (VSA) potentially represent an effective solution for increasing robot safety. In light of this consideration, the present paper describes the design optimization of a VSA architecture previously proposed by the authors. In this novel embodiment, the VSA can achieve stiffness modulation via the use of a pair of compliant mechanisms with distributed compliance, which act as nonlinear springs with proper torque-deflection characteristic. Such elastic elements are composed of slender beams whose neutral axis is described by a spline curve with non-trivial shape. The beam geometry is determined by leveraging on a CAD/CAE framework allowing for the shape optimization of complex flexures. The design method makes use of the modeling and simulation capabilities of a parametric CAD software seamlessly connected to a FEM tool (i.e. Ansys Workbench). For validation purposes, proof-concept 3D printed prototypes of both non-linear elastic element and overall VSA are finally produced and tested. Experimental results fully confirm that the compliant mechanism behaves as expected.
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Vehar, Christine, Sridhar Kota, and Robert Dennis. "Closed-Loop Tape Springs as Fully Compliant Mechanisms: Preliminary Investigations." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57403.

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The paper introduces tape springs as elements of fully compliant mechanisms. The localized folds of tape springs serve as compact revolute joints, with a very small radius and large range of motion, and the unfolded straight segments serve as links. By exploiting a tape spring’s ability to function as both links and joints, we present a new method of realizing fully compliant mechanisms with further simplification in their construction. Tape springs, typically found in carpenter tape rules, are thin-walled strips having constant thickness, zero longitudinal curvature, and a constant transverse curvature. The paper presents a closed-loop tape spring mechanism. By representing its folds as idealized revolute joints and its variable length links as sliding joints connecting rigid links, we present a modified Gruebler’s equation to determine its kinematic and idle degrees of freedom. To realize practical utility of tape spring mechanisms, we propose a simple actuation scheme incorporating shape memory alloy (SMA) wire actuators and successfully demonstrate its performance with a proof-of-concept prototype. The paper also presents potential applications for actuated tape spring mechanisms including a large displacement translational mechanism, planar positioning mechanisms, bi-stable, multi-stable, and variable stiffness mechanisms.
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Zuo, Cui, and Jiang Hong-zhou. "A Study of the Planar Serial-Parallel Mechanism With Various Stiffness for a Biotic Compliant Fish." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-62305.

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Previous biological experiments show that the fish use their muscles to stiffen their bodies for improving the swimming performance. Inspired by that, we propose a planar model of oscillatory propulsor with variable stiffness using hyper redundant serial-parallel mechanisms to mimic a fish. Our goal in the paper is to identify the swimming characteristics with respect to the body stiffness. Moreover, a simulation model is presented and its results show that the swimming performance is largely dependent on the body stiffness and the driven frequency. Our primary conclusions include: 1) when the driven frequency is closed to the design frequency, the robotic fish with the calculated body stiffness has a super swimming performance. 2) Driven at the design frequency, the forward speed of robotic fish is linearly proportional to the driving frequency and the Strouhal number is consistent with the experiment results 0.25<St<0.35.
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Berglind, Luke A., and Joshua D. Summers. "Direct Displacement Synthesis Method for Shape Morphing Skins Using Compliant Mechanisms." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28546.

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This paper presents a direct displacement synthesis method for the design of shape morphing skin structures using compliant mechanisms. The objective of this method is to design a skin structure that will deform to a desired final shape when acted on by a specific load. The method utilizes a ground structure geometry which can facilitate variable bending stiffness along the length of the skin using compliant spring members. Synthesis procedures involve the use of direct displacement to determine how the bending stiffness of the skin must vary to produce the desired shape change. The direct displacement synthesis method differs from other compliant mechanism synthesis methods found in literature, such as pseudo-rigid-body and continuum structure optimization, in the approach taken to solve for the unknown variables in the system. By using direct displacement to determine how the structure must respond to a specific load to achieve the desired shape change, the unknown variables within the system can be extracted directly without the use of optimization techniques.
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