2自由度可変剛性機構の比較研究
A Comparative Study on 2-DOF Variable Stiffness Mechanisms
冗長アクチュエータと非線形ばねを備えた2自由度並列機構の可変剛性設計を比較し、タスク空間剛性の最適化と定量評価指標を提案した論文。
著者: Christoph Stoeffler, Shivesh Kumar, Andreas Müller
分類: cs.RO
原文アブストラクト
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are presented and a comparative overview is drawn. Accordingly, a general stiffness formulation in task space of all mechanisms is given. Under fixed geometric parameters, optimization of task space stiffness is carried out on the designs comprising all kinematic solutions. Finally, a stiffness metric is introduced that allows a quantitative comparison of the given mechanism designs. This gives rise to design guidelines for engineers but also shows an interesting outline for future applications of variable stiffness mechanisms.
