Tesi etd-06212010-085707 |
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Tipo di tesi
Tesi di laurea specialistica
Autore
GARABINI, MANOLO
URN
etd-06212010-085707
Titolo
Theoretical and Experimental Study of Variable Stiffness Actuators
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA MECCANICA
Relatori
relatore Prof. Bicchi, Antonio
Parole chiave
- nonlinear spring
- optimization
- variable stiffness
Data inizio appello
14/07/2010
Consultabilità
Non consultabile
Data di rilascio
14/07/2050
Riassunto
As variable stiffness actuators find increased use and acceptance in robotic research, there is the demand for a way to evaluate them. In this work are defined parameters to represent the performance of a varible stiffness actuator and a cost function to minimize in order to choose the two most important elements of this kind of devices: the mechanism that perform the 'nonlinear spring' and the layout, that is the way in which components are arranged.
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