Modeling and Simulation of a Biphasic Media Variable Stiffness Actuator

Lugo, Jesus H.; Cannata, Giorgio; Zoppi, Matteo; Molfino, Rezia

doi:10.18178/ijmerr.9.1.7-12

Cited by 2 publications

(5 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…e p = P 1 + P 2 2 − P ref (10) e p = −λe p (11) Expanding and solving (9) and (11) for q i allows to control the position and stiffness of the system as shown in (12), (13), (14), (15), (16) and (17).…”

Section: Modeling Of Bmvsamentioning

confidence: 99%

See 1 more Smart Citation

Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

Lugo¹,

Caligiuri²,

Zoppi³

et al. 2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

Self Cite

View full text Add to dashboard Cite

At this time, several industrial processes and service tasks need safe interactions between humans and robots. This safety can be achieved using compliance design and control of mechanisms. This paper presents a compliant revolute joint mechanism using a variable stiffness actuator. The method for adapting the stiffness in the actuator includes a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Actuator's stiffness is controlled by changing pressure of control fluid into distribution lines. The used control fluid is biphasic, composed of separated gas and liquid fractions with predefined ratio. A mathematical model of the actuator is presented, a modelbased control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed.

show abstract

Section: Modeling Of Bmvsamentioning

confidence: 99%

“…Biphasic media variable stiffness actuators (BMVSA) have been extensively studied in [6]- [13]. These devices were designed using pneumatic and hydraulic components.…”

Section: Introductionmentioning

confidence: 99%

Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

Lugo¹,

Caligiuri²,

Zoppi³

et al. 2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…These controllers work fine for a small working range (dual-coupled PID) or are computationally expensive (fuzzy control). An efficient model-based controller was developed in [15] and its briefly described next.…”

Section: A Model-based Controllermentioning

confidence: 99%

“…Expanding and solving (7) and (9) for q i allows to control the position and stiffness of the system as shown in (10), (11), (12), (13), (14) and (15).…”

Section: R a F T˙ementioning

confidence: 99%

See 1 more Smart Citation

Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation

Calles¹,

Ramadoss²,

Zoppi³

et al. 2019

2019 Third IEEE International Conference on Robotic Computing (IRC)

Self Cite

View full text Add to dashboard Cite

In recent times, safe interactions between humans and robots are required for innumerable tasks and environments. This safety can be achieved using compliance design and control of mechanisms. Cable-driven mechanisms are used when applications need to have light structures, meaning that their actuators must be relocated to ground and forces are transferred along tensioned cables. This paper presents a compliant cable-driven revolute joint using biphasic media variable stiffness actuators. Actuator's stiffness is controlled by changing pressure of control fluid into distribution lines. The used control fluid is biphasic, composed of separated gas and liquid fractions with predefined ratio. The mathematical model of the actuator is presented along with its position and stiffness model-based control, then, equations relating to the dynamics of the mechanism are provided with a joint stiffness and orientation controller. Results from simulations are discussed.

show abstract

Modeling and Simulation of a Biphasic Media Variable Stiffness Actuator

Cited by 2 publications

References 13 publications

Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator

Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation

Contact Info

Product

Resources

About