Maccepa variable stiffness actuator

Author: hzkf

August undefined, 2024

WebJan 1, 2024 · This paper presents the experiments performed with the variable compliance actuator used in an active ankle prosthesis and the electromechanical model of this … WebJun 9, 2016 · Variable stiffness mechanisms are able to mechanically reconfigure themselves in order to adjust their system stiffness. It is generally accepted that only antagonistic designs, featuring quadratic springs, can produce linear spring-like behaviour (i.e., a linear relationship between the displacement and its resultant force).

Torsion MACCEPA: A novel compact compliant actuator designe…

http://mech.vub.ac.be/multibody/topics/maccepa/Actuator-VanHam1.pdf WebVariable Stiffness Acuators (VSAs), on the other hand, can inherently change the mechanical compliance of a humanoid's joints, having positive outcomes in terms of energy efficiency, robustness against disturbances and similarity with human motions due to their inherent compliant behavior. o\u0027keefe 46 and 2

ADynamicRoboticActuatorwithVariable Physical …

Webelastic actuator (SEA) [4] where the stiffness of the spring is x ed, but its virtual stiffness can be adapted through the controller by measuring the length of the spring [5]. WebOct 1, 2007 · Variable Stiffness Actuation (VSA) is an efficient, safe, and robust actuation technology for bionic robotic joints that have emerged in recent decades. By introducing … http://mech.vub.ac.be/multibody/topics/maccepa/Actuator-VanHam1.pdf rockyview county fire recruitment

SOFT ACTUATOR WITH VARIABLE-STIFFNESS HINGE

MACCEPA, the Mechanically Adjustable Compliance and …

Webextensively. Existing actuator designs with similar performance as the requirements are among others: the Bidi-rectional Antagonistic Variable Stiffness joint (BAVS) [14], the Floating Spring Joint (FSJ) [16], the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) [21], the Actuator with Ad- WebThe MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) is an electric actuator of which the compliance and equilibrium MACCEPA … rockyview county fire bansWebMay 17, 2024 · A Variable Stiffness Actuator Module With Favorable Mass Distribution for a Bio-inspired Biped Robot. David Rodriguez-Cianca Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel (VUB) and Flanders Make, Brussels, Belgium. Search articles by 'David Rodriguez-Cianca' Rodriguez-Cianca D1, Maarten Weckx o\u0027kean leather queen sleeper sofa

"WebThis paper presents a mechanical system with a similar configuration to a human musculo-skeletal system for use in anthropomorphic robots or as artificial limbs for disabled persons. First, a mechanical module called ANLES (Actuator with Non-Linear Elasticity System) is introduced. There are two types of ANLES: the linear-type ANLES and rotary-type … " - Maccepa variable stiffness actuator

Maccepa variable stiffness actuator

Design, modeling and control of a reconfigurable variable stiffness ...

WebMay 13, 2024 · This paper is focused on control of variable stiffness actuators (VSA). One of the new approaches in this area is based on a linear VSA model, whose main features are the directly controlled linear stiffness dynamics and bilinear output torque model. The paper tackles the problem of motion planning for linear VSA. WebItaly, [4] the Variable Stiffness Actuator (VIA) is designed. This mechanism uses 3 parallel axes, of which one is the axis of the joint, and the other two are actuated by two motors. …

Did you know?

WebThe MACCEPA is a straightforward and easy to construct rotational actuator, of which the compliance can be controlled separately from the equilibrium position. The generated … WebVariable Stiffness Actuators (VSAs) emerged as an alternative to conventional actuators in a variety of applications, such as walking robots and service robotics. ... Van Damme, M., Verrelst, B., Lefeber, D.: Maccepa, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped ...

WebControl System Design for Two Link Robot Arm with MACCEPA 2.0 Variable Stiffness Actuators. Abstract: The paper deals with control system design for a robotic arm with …

WebJun 8, 2024 · Variable stiffness actuators (VSAs) have emerged as a promising actuation principle for devices focused on physical interaction. ... In this context, one of the most representative actuators based on VSA concepts is MACCEPA. This actuator consists of 3 bodies pivoting around a common rotation axis whose working principle is a torsion … WebSep 6, 2016 · Variable stiffness actuators (VSAs) can improve the robot's performance during interactions with human and uncertain environments. Based on the modified gear–rack mechanism, a VSA with a third-power stiffness profile is designed. The proposed mechanism, used to vary the joint stiffness, is placed between the output end and the …

Webelastic actuator (SEA) [4] where the stiffness of the spring is x ed, but its virtual stiffness can be adapted through the controller by measuring the length of the spring [5].

Webstiffness and precompression for the actuator. In the case of this actuator, the peak mechanical power that has to be pro-vided by the actuator was minimized, and the minimization technique used in Flynn et al. (2015) shows an optimum at a precompression of 7 mm for a spring with a stiffness of 130 N/mm when the actuator is simulated to match ... o\u0027kane theatreWebSep 20, 2024 · The variable-stiffness hinge has a decreased stiffness in the inflation stage and an increased stiffness in the inflated stage. The actuation system also includes a computing device configured to identify a condition of the soft actuator and cause the stiffness of the hinge to be increased or decreased based on the condition. rockyview county fire chiefWebNov 1, 2024 · 1) Variable stiffness mechanism: A stiffness motor is fixed inside the input axis, and the torque is transmitted to the spring shafts through a simple gear mechanism (parts: 7–9). The two ends of the spring shaft are supported on the input axis and a support frame (part: 17), respectively. rockyview county fire departmentWebSoft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular jamming have shown great capability of handling objects with various shapes and weight. However, they require a large pushing … rocky view county land use bylaw maphttp://mech.vub.ac.be/multibody/topics/maccepa.htm o\u0027kean church of christ arkansasWebThe MACCEPA concept and design is then described in detail. The equation to calculate the generated torque is derived. Depending on the design parameters, it is shown that the … rocky view county fireWebrobotic manipulator. A new variable impedance actuator (VIA) was designed, capable of reproducing motions through teleoperation from precise positioning tasks to highly … rockyview county grants