Virtual and physical prototyping of a beam-based variable stiffness actuator for safe human-machine interaction

Bilancia, Pietro; Berselli, Giovanni; Palli, Gianluca

doi:10.1016/j.rcim.2019.101886

Cited by 34 publications

(19 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For instance, Fig. 6c shows a possible configuration of compliant balancer, namely a flexible beam whose shape is to be optimized in order to match a specific, pre-defined, force-deflection behavior (F b = F b (θ )) in the angular range of interest [69][70][71].…”

Section: Dof Balancermentioning

confidence: 99%

Conceptual design and virtual prototyping of a wearable upper limb exoskeleton for assisted operations

Bilancia

Berselli

2021

Int J Interact Des Manuf

Self Cite

View full text Add to dashboard Cite

This paper introduces a novel upper limb robotic exoskeleton designed to assist industrial operators in a wide range of manual repetitive tasks, such as tool handling and lifting/moving of heavy items. Due to its reduced size and high maneuverability, the proposed portable device may also be employed for rehabilitation purposes (e.g. as an aid for people with permanent neuromuscular diseases or post-stroke patients). Its primary function is to compensate the gravity loads acting on the human shoulder by means of a hybrid system consisting of four electric motors and three passive springs. The paper focuses on the exoskeleton mechanical design and virtual prototyping. After a preliminary review of the existent architectures and procedures aimed at defining the exoskeleton functional requirements, a detailed behavioral analysis is conducted using analytical and numerical approaches. The developed interactive model allows to simulate both kinematics and statics of the exoskeleton for every possible movement within the design workspace. To validate the model, the results have been compared with the ones achieved with a commercial multibody software for three different operator’s movements.

show abstract

Section: Dof Balancermentioning

confidence: 99%

Conceptual design and virtual prototyping of a wearable upper limb exoskeleton for assisted operations

Bilancia

Berselli

2021

Int J Interact Des Manuf

Self Cite

View full text Add to dashboard Cite

show abstract

“…Multi-software frameworks have been widely investigated by academic researchers in recent years, and not only regarding VC. They have been employed, e.g., for the design of servo-actuated mechanisms [12,35,36], the dynamic characterization of robotic systems [37], and for the tuning of robot controllers [38].…”

Section: Related Workmentioning

confidence: 99%

Engineering Method and Tool for the Complete Virtual Commissioning of Robotic Cells

Raffaeli

Bilancia

Neri³

et al. 2022

Applied Sciences

Self Cite

View full text Add to dashboard Cite

Intelligent robotic manufacturing cells must adapt to ever-varying operating conditions, developing autonomously optimal manufacturing strategies to achieve the best quality and overall productivity. Intelligent and cognitive behaviors are realized by using distributed controllers, in which complex control logics must interact and process a wide variety of input/output signals. In particular, programmable logic controllers (PLCs) and robot controllers must be coordinated and integrated. Then, there is the need to simulate the robotic cells’ behavior for performance verification and optimization by evaluating the effects of both PLC and robot control codes. In this context, this work proposes a method, and its implementation into an integrated tool, to exploit the potential of ABB RobotStudio software as a virtual prototyping platform for robotic cells, in which real robots control codes are executed on a virtual controller and integrated with Beckhoff PLC environment. For this purpose, a PLC Smart Component was conceived as an extension of RobotStudio functionalities to exchange signals with a TwinCAT instance. The new module allows the virtual commissioning of a complete robotic cell to be performed, assessing the control logics effects on the overall productivity. The solution is demonstrated on a robotic assembly cell, showing its feasibility and effectiveness in optimizing the final performance.

show abstract

“…with VLAM can adjust stiffness by changing the lever arm length ratio, which leads to a wide range of stiffness adjustment. On this basis, multiple researches are dedicated to deduce the dynamic equations by kinetic, stiffness and resistance modeling, and analyze the performance of the proposed model with control methods combined [15][16][17][18][19][20][21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neural Backstepping Control of Variable Stiffness Actuator

Xia

Song

Wang

et al. 2021

Preprint

View full text Add to dashboard Cite

In this paper, we provide a novel adaptive neural network backstepping control scheme for a special variable stiffness actuator (VSA) based on lever mechanisms with saturation inputs, output constraints and disturbances is presented here. In the controller designing, the prescribed performance-tangent barrier Lyapunov function (PP-TBLF) is introduced to ensure that both the prescribed performance bound of tracking error and the output constraints are not violated. In specific steps of backstepping control scheme, the Chebyshev neural network and the Nussbaum-type function are used to solve the unknown nonlinearities and unknown gain sign. Meanwhile, the inverse hyperbolic sine function tracking differentiator is exploited to solve the “explosion of complexity” caused by the differentiation of virtual inputs and also approximate the complex partial derivative caused by the auxiliary control signals. Finally, the stability of the whole scheme is proved by Lyapunov criterion and the simulation results are presented to illustrate the feasibility of the raised control strategy.

show abstract

Virtual and physical prototyping of a beam-based variable stiffness actuator for safe human-machine interaction

Cited by 34 publications

References 30 publications

Conceptual design and virtual prototyping of a wearable upper limb exoskeleton for assisted operations

Conceptual design and virtual prototyping of a wearable upper limb exoskeleton for assisted operations

Engineering Method and Tool for the Complete Virtual Commissioning of Robotic Cells

Adaptive Neural Backstepping Control of Variable Stiffness Actuator

Contact Info

Product

Resources

About