Dimensioning and evaluation of the elastic element in a Variable Torsion Stiffness actuator
Schuy J, Faber J, Wojtusch J, Rinderknecht S, Stryk OV, Beckerle P (2013)
Publication Type: Conference contribution
Publication year: 2013
Pages Range: 1786-1791
Conference Proceedings Title: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
ISBN: 9781467353199
Abstract
Variable stiffness joints are essential for robots or biomechanical applications to generate torque with sufficient compliance to ensure safety simultaneously. This paper presents the dimensioning of the elastic element for an actuator with Variable Torsion Stiffness (VTS). Analytical and finite element calculations are compared to experimental evaluation of a splined shaft profile realized in a prototype implementation. Based on simplifications and effects in the real test-rig the results show similar behaviour. Furthermore, an analytical and finite element investigation of four cross-sections with torsional load illustrate optimal utilization of cylindrical geometries considering the torsional stress. In contrast, the low stressed edges of uncylindrical cross-sections are adequate areas to bear additional stresses. © 2013 IEEE.
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Germany (DE)How to cite
APA:
Schuy, J., Faber, J., Wojtusch, J., Rinderknecht, S., Stryk, O.V., & Beckerle, P. (2013). Dimensioning and evaluation of the elastic element in a Variable Torsion Stiffness actuator. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 (pp. 1786-1791).
MLA:
Schuy, J., et al. "Dimensioning and evaluation of the elastic element in a Variable Torsion Stiffness actuator." Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 2013. 1786-1791.
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