Modeling of Flexible Shaft for Robotics Applications Vrije Universiteit Brussel
Reducing moving mass and effective inertia is essential for achieving safe human-robot collaboration. This can be achieved either by employing remote actuation, which moves the mass of actuators away from the moving elements of the robot, or by elastic actuation, which decouples the inertia of the actuator from the inertia of the robot’s link. Flexible shafts, being torsionally compliant slender long shafts, offer a combination of remote and ...