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Actuators 2014, 3(3), 270-284;

Coupling between the Output Force and Stiffness in Different Variable Stiffness Actuators

Singapore Institute of Manufacturing Technology, SIMTech, Singapore, 638075, Singapore
Received: 12 March 2014 / Revised: 16 April 2014 / Accepted: 1 July 2014 / Published: 11 August 2014
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The fundamental objective in developing variable stiffness actuators is to enable the actuator to deliberately tune its stiffness. This is done through controlling the energy flow extracted from internal power units, i.e., the motors of a variable stiffness actuator (VSA). However, the stiffness may also be unintentionally affected by the external environment, over which, there is no control. This paper analysis the correlation between the external loads, applied to different variable stiffness actuators, and their resultant output stiffness. Different types of variable stiffness actuators have been studied considering springs with different types of nonlinearity. The results provide some insights into how to design the actuator mechanism and nonlinearity of the springs in order to increase the decoupling between the load and stiffness in these actuators. This would significantly widen the application range of a variable stiffness actuator. View Full-Text
Keywords: stiffness; external load; variable stiffness actuator stiffness; external load; variable stiffness actuator

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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Jafari, A. Coupling between the Output Force and Stiffness in Different Variable Stiffness Actuators. Actuators 2014, 3, 270-284.

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