Prototype Design of a Novel Modular Two-Degree-of-Freedom Variable Stiffness Actuator

In bio-inspired robotic applications, multipledegree-of-freedom actuators are often desired. The current state of the art of variable stiffness actuators consist mostly of different concepts for single-degree-of-freedom joints. An innovative Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) concept is presented to specifically accomodate implementation in twodegree-of-freedom joints. A prototype design, based on this concept, is furthermore presented. The working principle and relevant design choices are explained, a zero-dynamic model is derived for future design iterations, and the implementation in a first prototype is discussed.

Publication year:2014

Keywords:variable stiffness actuator, 2 dof actuator