Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design

Abstract : In this paper, the design of a new variable stiffness spherical joint for MR-compatible robotics is presented. It is based on the use of prestressed cable-driven mechanisms in singular configurations to provide large stiffness variation ranges, including zero stiffness configuration as required by the medical context. An original implementation is proposed, with a prestress adjustment system using pneumatic energy and taking advantage of multimaterial additive manufacturing. The proposed component combines compactness, MR-compatibility and is lightweight. The system is evaluated on a dedicated experimental setup with validation of the expected behavior, with in particular a very large achievable range of stiffnesses. The approach is effective for the design of such device and constitutes a novel solution for the design of variable stiffness devices with complex motions.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01276757
Contributor : Salih Abdelaziz <>
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Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud. Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design. ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667, ⟨10.1109/ICRA.2016.7487192⟩. ⟨lirmm-01276757⟩

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