Kinematic and Dynamic Modeling of 3DOF Variable Stiffness Links Manipulator with Experimental Validation

Abstract

Variable stiffness link (VSL) manipulators are robotic arms that can adjust their link stiffness in real time to improve their adaptability and precision. They are particularly useful in industrial environments where safe collaboration with human workers is required. However, modeling and controlling these non-linear systems is a major challenge due to their complexity. This research paper presents a mathematical model for a 3DOF VSL manipulator, which is the first step towards optimizing performance, improving safety, and reducing costs. The accuracy and reliability of the model are demonstrated through verification experiments that strengthen confidence in its validity for engineering and scientific research. This study contributes to the understanding of the dynamics of VSL manipulators and provides insights for future advances in the use of such robots. By using the proposed model, the efficiency and precision of VSL manipulators can be improved while ensuring safe human–robot interaction in various industrial applications.

Keywords

• flexible links
• modeling
• lumped parameters
• soft robot
• validation
• variable stiffness links