Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism

Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA... Purpose – This paper aims to discuss, analyze and compare members of a group of actuators with adjustable stiffness, namely: AwAS, AwAS-II and CompACT variable stiffness actuator (VSA) developed at Italian Institute of Technology (IIT). Design/methodology/approach – These actuators are among series type of VSAs where one main motor is dedicated for link positioning and a secondary motor, in series with the first one, regulates the output link stiffness. Regulating the stiffness in this group of actuators is based on the lever concept. Initially, springs were moved along the lever to tune the stiffness while in the later versions stiffness was regulated through relocating pivot point along the lever. Findings – This paper discusses how different mechanisms have been employed in realization of the lever concept in these actuators and what are the advantages and disadvantages of each realization. Practical implications – Today’s robots are not supposed to be solid, isolated and rigid anymore but rather adaptive, cooperative and compliant entities in our daily life. The new attitudes demand for novel technologies substantially different from those developed for industrial domains both at the hardware and the software levels. This work presents latest three state-of-the-art actuators, developed at IIT, which are great answers to the needs of tomorrow’s robot. Originality/value – These novel actuators are really ready for commercial exploitation, as they are compact and reliable. The main novelty is based on employing concept of lever mechanism for stiffness regulation. They have been designed and manufactured in a very professional and optimized way. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
D.O.I.
10.1108/IR-12-2014-0433
Publisher site
See Article on Publisher Site

Abstract

Purpose – This paper aims to discuss, analyze and compare members of a group of actuators with adjustable stiffness, namely: AwAS, AwAS-II and CompACT variable stiffness actuator (VSA) developed at Italian Institute of Technology (IIT). Design/methodology/approach – These actuators are among series type of VSAs where one main motor is dedicated for link positioning and a secondary motor, in series with the first one, regulates the output link stiffness. Regulating the stiffness in this group of actuators is based on the lever concept. Initially, springs were moved along the lever to tune the stiffness while in the later versions stiffness was regulated through relocating pivot point along the lever. Findings – This paper discusses how different mechanisms have been employed in realization of the lever concept in these actuators and what are the advantages and disadvantages of each realization. Practical implications – Today’s robots are not supposed to be solid, isolated and rigid anymore but rather adaptive, cooperative and compliant entities in our daily life. The new attitudes demand for novel technologies substantially different from those developed for industrial domains both at the hardware and the software levels. This work presents latest three state-of-the-art actuators, developed at IIT, which are great answers to the needs of tomorrow’s robot. Originality/value – These novel actuators are really ready for commercial exploitation, as they are compact and reliable. The main novelty is based on employing concept of lever mechanism for stiffness regulation. They have been designed and manufactured in a very professional and optimized way.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: May 18, 2015

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