WebItaly, [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. … WebApr 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 …
MACCEPA, the Mechanically Adjustable …
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 … WebJul 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 … famous modern street photographers
Energetic analysis and optimization of a MACCEPA actuator in …
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 … 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 … famous mods sims 4