Compliant, bi-stable mechanisms with multiple stiffnesses through controlled spring buckling
The ability to change stiffness is a capability exhibited through the animal kingdom, with many recent advances in tunable stiffness in the area of robotics. In this paper, we propose a mechanism design that provides the ability to make modular subcomponents with tunable stiffness by creating a bi-s...
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Published in | 2017 IEEE International Conference on Robotics and Automation (ICRA) pp. 3074 - 3079 |
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Main Authors | , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.05.2017
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Subjects | |
Online Access | Get full text |
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Summary: | The ability to change stiffness is a capability exhibited through the animal kingdom, with many recent advances in tunable stiffness in the area of robotics. In this paper, we propose a mechanism design that provides the ability to make modular subcomponents with tunable stiffness by creating a bi-stable mechanism that exhibits different stiffnesses in each of the stable configurations. The design is based on controlled buckling of two linear springs in series and allows design-time control over the stiffnesses, equilibrium points, and energy required to transition between the stable configurations. |
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DOI: | 10.1109/ICRA.2017.7989353 |