Abstract
We present a variable stiffness mechanism based on a cam profile which nonlinearly deflects a linear spring. An iterative, feedback-based method for generating the cam profile following a desired force-deflection curve is proposed. Experimental results demonstrate strong correlation between desired and measured force-deflection curves.
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Notes
- 1.
Note that this is an approximation that holds only for limited nonlinearity, as with increasing nonlinearity the detachment point will move off the x-axis.
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van Ruitenbeek, F., Okken, B., Roozing, W. (2024). Variable Stiffness Mechanism Using a Cam Profile. In: Secchi, C., Marconi, L. (eds) European Robotics Forum 2024. ERF 2024. Springer Proceedings in Advanced Robotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-76424-0_14
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DOI: https://doi.org/10.1007/978-3-031-76424-0_14
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