A Novel Mechanically Overdamped Actuator with Adjustable Stiffness (MOD-AwAS) for Safe Interaction and Accurate Positioning

Date
2017-06-28
Authors
Lee, Jae Hoon
Wahrmund, Christian
Jafari, Amir
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Journal ISSN
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Abstract

This paper presents the design and development of a novel mechanically overdamped actuator with adjustable stiffness (MOD-AwAS). The novelty of MOD-AwAS compared to other variable stiffness actuators relates to its mechanical design, which prevents oscillations at the output link. Almost all variable stiffness actuators have an overshooting problem that require a sophisticated control algorithm to be able to perform accurate positioning. MOD-AwAS can regulate the stiffness from zero to its maximum (theoretically infinite) in less than 0.2 s by changing the position of the pivot point of its lever mechanisms. MOD-AwAS employs only one rotational spring with no pre-deflection, which gives it full accessibility to its energy storage capacity. Experimental results are presented to show the ability of MOD-AwAS to control its position accurately with a wide range of stiffness adjustment.

Description
Keywords
variable stiffness, overdamped system, energy storage
Citation
Actuators 6 (3): 22 (2017)
Department
Mechanical Engineering