Stiffness Modulation of A1-DOF Robotic Manipulator with Antagonistic Actuators

Abstract

Abstract--Stiffness modulation scheme for a robotic driving system with redundant actuation was investigated in this paper. The dynamic and the stiffness models of a simple system having one link and two prismatic actuators were derived and employed for computational simulations of dynamic response to an initial disturbance. Several combinations with different types of elastic elements were applied to the system and their movement were analysed.