On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture
Matteo Malosio,
Francesco Corbetta,
Francisco Ramìrez Reyes,
Hermes Giberti,
Giovanni Legnani,
Lorenzo Molinari Tosatti
Affiliations
Matteo Malosio
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, via Alfonso Corti 12, 20133 Milano, Italy
Francesco Corbetta
Dipartimento di Meccanica, Politecnico di Milano, Via la Masa 1, 20156 Milano, Italy
Francisco Ramìrez Reyes
Dipartimento di Meccanica, Politecnico di Milano, Via la Masa 1, 20156 Milano, Italy
Hermes Giberti
Dipartimento di Ingegneria Industriale e dell’Informazione, Università di Pavia, Via ferrata 5, 27100 Pavia, Italy
Giovanni Legnani
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, via Alfonso Corti 12, 20133 Milano, Italy
Lorenzo Molinari Tosatti
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, via Alfonso Corti 12, 20133 Milano, Italy
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness.
