2024 Maccepa variable stiffness actuator

Maccepa variable stiffness actuator

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August undefined, 2024

WebSep 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. 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].

[PDF] A Palm-Shape Variable-Stiffness Gripper based on 3D …

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- WebThe MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) is an electric actuator of which the compliance and equilibrium MACCEPA … cnn.world

Control System Design for Two Link Robot Arm with …

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). WebCurrently, this is usually achieved by cascading single-degree of freedom actuators. The innovation presented in this work is a two-degree of freedom variable stiffness actuator … http://mech.vub.ac.be/multibody/topics/maccepa/Actuator-VanHam1.pdf cnn word of the year

Torsion MACCEPA: A novel compact compliant actuator designe…

MACCEPA, the mechanically adjustable compliance and …

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 … WebAbstract: 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. cal berkeley toursWebelastic 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]. cal berkeley t shirt

"WebOct 1, 2007 · Variable Stiffness Actuation (VSA) is an efficient, safe, and robust actuation technology for bionic robotic joints that have emerged in recent decades. By introducing … " - Maccepa variable stiffness actuator

Maccepa variable stiffness actuator

ADynamicRoboticActuatorwithVariable Physical …

WebNov 1, 2024 · 1) Variable stiffness mechanism: A stiffness motor is fixed inside the input axis, and the torque is transmitted to the spring shafts through a simple gear mechanism (parts: 7–9). The two ends of the spring shaft are supported on the input axis and a support frame (part: 17), respectively. Webstiffness 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 ...

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WebThis paper presents a mechanical system with a similar configuration to a human musculo-skeletal system for use in anthropomorphic robots or as artificial limbs for disabled persons. First, a mechanical module called ANLES (Actuator with Non-Linear Elasticity System) is introduced. There are two types of ANLES: the linear-type ANLES and rotary-type … WebOct 1, 2007 · MACCEPA is an effective variable-stiffness actuator, and could change stiffness to mimic the stiffness distribution. ... ... For example, the translational singular …

WebJan 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 … WebSoft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular jamming have shown great capability of handling objects with various shapes and weight. However, they require a large pushing …

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 ... WebApr 3, 2014 · The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by cascading single-degree of freedom actuators. The …

WebAdjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA),30 VS Joint,31 Safe Joint Mechanism32 and Cam Disc Variable Stiffness Mechanisms …

WebJun 17, 2024 · The actuator is a MACCEPA: a variable compliance actuator which was used before in different bio-inspired robotic applications. The design used for this … cnn workplace safetyhttp://mech.vub.ac.be/multibody/topics/maccepa.htm cal berkeley volleyball rosterWebApr 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 … cnn workplaceWebJul 1, 2024 · Control System Design for Two Link Robot Arm with MACCEPA 2.0 Variable Stiffness Actuators DOI: 10.1109/AIM.2024.8868490 Conference: 2024 IEEE/ASME International … cal berkeley under armour fleece jackets cal berkeley women\u0027s basketball rosterWebVariable Stiffness Acuators (VSAs), on the other hand, can inherently change the mechanical compliance of a humanoid's joints, having positive outcomes in terms of energy efficiency, robustness against disturbances and similarity with human motions due to their inherent compliant behavior. cal berkeley water polo campWebrobotic manipulator. A new variable impedance actuator (VIA) was designed, capable of reproducing motions through teleoperation from precise positioning tasks to highly … cnn world boat sinks november 2021