This work presents the principle of operation of LinWWC-VSA, a Variable Stiffness Actuator (VSA) suitable to perform linear motions, conversely to the vast majority of VSAs typically designed to perform rotational movements and often affected by limits in the actually exploitable range of motions. It features two antagonist nonlinear equivalent springs, each of them made up of a cam wrapped by a wire and constrained by a torsion spring. This work presents methods both for the analysis and the synthesis of the actuator. Two synthesis methods, one numerical and one analytic, are described to design the cam profile as function of the desired stiffness-displacement characteristic of each equivalent nonlinear spring. The analytic method exploits the peculiar formulation of the logarithmic spiral. The theoretical aspects of the actuator are accompanied by numerical simulations.

Analysis and synthesis of LinWWC-VSA, a Variable Stiffness Actuator for linear motion

Spagnuolo G;Malosio M;Dinon T;Molinari Tosatti L;Legnani G
2017

Abstract

This work presents the principle of operation of LinWWC-VSA, a Variable Stiffness Actuator (VSA) suitable to perform linear motions, conversely to the vast majority of VSAs typically designed to perform rotational movements and often affected by limits in the actually exploitable range of motions. It features two antagonist nonlinear equivalent springs, each of them made up of a cam wrapped by a wire and constrained by a torsion spring. This work presents methods both for the analysis and the synthesis of the actuator. Two synthesis methods, one numerical and one analytic, are described to design the cam profile as function of the desired stiffness-displacement characteristic of each equivalent nonlinear spring. The analytic method exploits the peculiar formulation of the logarithmic spiral. The theoretical aspects of the actuator are accompanied by numerical simulations.
2017
Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato - STIIMA (ex ITIA)
Variable Stiffness Actuator
Linear motion
Spiral cam
Logarithmic spiral
File in questo prodotto:
File Dimensione Formato  
prod_365028-doc_120376.pdf

solo utenti autorizzati

Descrizione: Analysis and synthesis of LinWWC-VSA, a Variable StiffnessActuator for linear motion
Tipologia: Versione Editoriale (PDF)
Dimensione 2.04 MB
Formato Adobe PDF
2.04 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
prod_365028-doc_188115.pdf

accesso aperto

Descrizione: Analysis and synthesis of LinWWC-VSA, a Variable StiffnessActuator for linear motion - rebuttal paper
Tipologia: Versione Editoriale (PDF)
Dimensione 4.65 MB
Formato Adobe PDF
4.65 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.14243/356847
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 13
  • ???jsp.display-item.citation.isi??? 11
social impact