University of Twente Student Theses


Modeling and characterization of a 2-DOF variable stiffness joint

Zult, J.D. (2016) Modeling and characterization of a 2-DOF variable stiffness joint.

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Abstract:A newly developed robotic wrist is analyzed, in order to obtain a model that can accurately predict its dynamic behavior. The wrist can move in two degrees of freedom, in which the coupled output stiffness can be varied. Such a device is called a variable stiffness joint (VSJ) and it applies the technology of the variable stiffness actuator (VSA). An overview of the current design is made to get an understanding of its operation. Then the identified subsystems are individually explored, leading to the construction of a sub-model for each of them. Friction plays an important role in the behavior of the system, so a fair amount of attention is paid to modeling these effects. The two most important subsystems are then tested in order to check the corresponding models for inaccuracies and acquire their missing parameter values. To be able to perform the necessary measurements, two experimental setups have been designed and built. The experimental results are evaluated on quality and validity, and interpreted accordingly. Earlier data is compared to simulations of the complete model, in an attempt to draw conclusions on the modeling and characterization process and the final result that this yields.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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