A Novel Mechanically Overdamped Actuator with Adjustable Stiffness (MOD-AwAS) for Safe Interaction and Accurate Positioning
| dc.contributor.author | Lee, Jae Hoon | |
| dc.contributor.author | Wahrmund, Christian | |
| dc.contributor.author | Jafari, Amir | |
| dc.date.accessioned | 2021-04-19T15:03:16Z | |
| dc.date.available | 2021-04-19T15:03:16Z | |
| dc.date.issued | 2017-06-28 | |
| dc.date.updated | 2021-04-19T15:03:16Z | |
| dc.description.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. | |
| dc.description.department | Mechanical Engineering | |
| dc.identifier | doi: 10.3390/act6030022 | |
| dc.identifier.citation | Actuators 6 (3): 22 (2017) | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12588/381 | |
| dc.rights | Attribution 4.0 United States | |
| dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
| dc.subject | variable stiffness | |
| dc.subject | overdamped system | |
| dc.subject | energy storage | |
| dc.title | A Novel Mechanically Overdamped Actuator with Adjustable Stiffness (MOD-AwAS) for Safe Interaction and Accurate Positioning | |
| dc.type | Article |