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Open AccessArticle

On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture

1
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, via Alfonso Corti 12, 20133 Milano, Italy
2
Dipartimento di Meccanica, Politecnico di Milano, Via la Masa 1, 20156 Milano, Italy
3
Dipartimento di Ingegneria Industriale e dell’Informazione, Università di Pavia, Via ferrata 5, 27100 Pavia, Italy
4
Dipartimento di Ingegneria Meccanica e Industriale, Università di Brescia, Piazza del Mercato 15, 25121 Brescia, Italy
*
Author to whom correspondence should be addressed.
Current address: Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, c/o Polo Universitario di Lecco, via G. Previati 1/E, 23900 Lecco, Italy.
These authors contributed equally to this work.
Robotics 2019, 8(2), 39; https://doi.org/10.3390/robotics8020039
Received: 19 April 2019 / Revised: 20 May 2019 / Accepted: 23 May 2019 / Published: 27 May 2019
(This article belongs to the Special Issue Advances in Italian Robotics)
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness. View Full-Text
Keywords: parallel kinematic architecture; agonist-antagonist variable-stiffness actuator; tendon-driven mechanism; stiffness analysis; planar movements parallel kinematic architecture; agonist-antagonist variable-stiffness actuator; tendon-driven mechanism; stiffness analysis; planar movements
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MDPI and ACS Style

Malosio, M.; Corbetta, F.; Ramìrez Reyes, F.; Giberti, H.; Legnani, G.; Molinari Tosatti, L. On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture. Robotics 2019, 8, 39.

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