Open AccessSimultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator
Author(s) -
Jesus H. Lugo
Publication year - 2019
Publication title -
international journal of robotic computing
Language(s) - English
Resource type - Journals
ISSN - 2641-9521
DOI - 10.35708/rc1868-126252
Subject(s) - revolute joint , actuator , stiffness , mechanism (biology) , control theory (sociology) , fluidics , engineering , position (finance) , pneumatic actuator , control engineering , computer science , structural engineering , mechanical engineering , control (management) , physics , electrical engineering , artificial intelligence , finance , quantum mechanics , economics , constraint (computer aided design)
Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety.This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.