Abstract
Recently, a variable stiffness robotic link based on the rotating beam concept has been developed for applications in physical human robot interaction. A substantial challenge for design of such links is the modeling of stiffness behavior to permit stiffness control. In this paper we present a general 3D model of the link stiffness using screw theory and compliance matrices as well as a planar model for the lateral and torsional stiffness. Since axial buckling is a major failure mode, we also derive an analytical model for predicting axial buckling behavior. The analytical models are compared to the finite element method and experimental results. One of the challenges involved in design and analysis of variable stiffness links is the parasitic compliance of the mechanical elements that support and drive the active portion of the mechanism. For the design analyzed in this paper, we use the models we derive to identify the major sources of parasitic compliance and suggest optimizations to minimize their effects. These results can be used as guidelines for designing variable stiffness links.
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