Maccepa variable stiffness actuator
Webelastic actuator (SEA) [4] where the stiffness of the spring is x ed, but its virtual stiffness can be adapted through the controller by measuring the length of the spring [5]. WebAdjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA),30 VS Joint,31 Safe Joint Mechanism32 and Cam Disc Variable Stiffness Mechanisms …
Maccepa variable stiffness actuator
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WebJun 9, 2016 · Variable stiffness mechanisms are able to mechanically reconfigure themselves in order to adjust their system stiffness. It is generally accepted that only antagonistic designs, featuring quadratic springs, can produce linear spring-like behaviour (i.e., a linear relationship between the displacement and its resultant force). Webextensively. Existing actuator designs with similar performance as the requirements are among others: the Bidi-rectional Antagonistic Variable Stiffness joint (BAVS) [14], the Floating Spring Joint (FSJ) [16], the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) [21], the Actuator with Ad-
WebVariable Stiffness Actuators (VSAs) emerged as an alternative to conventional actuators in a variety of applications, such as walking robots and service robotics. ... Van Damme, M., Verrelst, B., Lefeber, D.: Maccepa, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped ... WebJun 8, 2024 · Variable stiffness actuators (VSAs) have emerged as a promising actuation principle for devices focused on physical interaction. ... In this context, one of the most representative actuators based on VSA concepts is MACCEPA. This actuator consists of 3 bodies pivoting around a common rotation axis whose working principle is a torsion …
WebApr 6, 2024 · The MACCEPA actuator is a VIA in which the stiffness can be altered independent of the output position, while the construction is relatively non-complex. ... [10] Bicchi A, Tonietti G, Bavaro M and Piccigallo M 2005 Variable stiffness actuators for fast and safe motion control Robotics Research: The Eleventh International Symposium ed P … http://mech.vub.ac.be/multibody/topics/maccepa/Actuator-VanHam1.pdf
WebThe MACCEPA concept and design is then described in detail. The equation to calculate the generated torque is derived. Depending on the design parameters, it is shown that the …
WebOct 1, 2007 · MACCEPA is an effective variable-stiffness actuator, and could change stiffness to mimic the stiffness distribution. ... ... For example, the translational singular … jay\\u0027s grill glasgowWebSep 20, 2024 · The variable-stiffness hinge has a decreased stiffness in the inflation stage and an increased stiffness in the inflated stage. The actuation system also includes a computing device configured to identify a condition of the soft actuator and cause the stiffness of the hinge to be increased or decreased based on the condition. jay\\u0027s grill loudon tnWebstiffness and precompression for the actuator. In the case of this actuator, the peak mechanical power that has to be pro-vided by the actuator was minimized, and the minimization technique used in Flynn et al. (2015) shows an optimum at a precompression of 7 mm for a spring with a stiffness of 130 N/mm when the actuator is simulated to match ... jay\u0027s home improvement boca ratonWebAbstract: The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is a Variable Stiffness Actuator (VSA) where both equilibrium position and stiffness of the actuator can be controlled independently. It uses only one linear spring and has a simple design but its compactness is limited by the spring. jay\u0027s guide service norris lake stripersWebItaly, [4] the Variable Stiffness Actuator (VIA) is designed. This mechanism uses 3 parallel axes, of which one is the axis of the joint, and the other two are actuated by two motors. The three axes are connected by a belt which is tensioned by 3 spring mechanisms. At Georgia Institute of Technology, USA, [5] a Biologically Inspired Joint Stiffness kuwait to saudi umrah packageWebJan 26, 2016 · This recruitment is performed by an intermittent mechanism. This paper presents the development of a SPEA using the MACCEPA principle with a self-closing mechanism. This actuator can deliver a bi-directional output torque, variable stiffness and reduced friction. The load on the motor can also be reduced, leading to a lower power … jay\u0027s havaneseWebApr 1, 2024 · The working principle and the mechanical design of the ankle actuator are briefly described in this section. More details about the design of the actuator are given in [8].The ankle actuator is based on the MACCEPA [28].The MACCEPA is a torque-controlled VSA that behaves as a torsion spring and makes it possible to independently … jay\u0027s grill bar menu