Sistema ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

 

Tesi etd-06212010-085707


Tipo di tesi
Tesi di laurea specialistica
Autore
GARABINI, MANOLO
URN
etd-06212010-085707
Titolo
Theoretical and Experimental Study of Variable Stiffness Actuators
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA MECCANICA
Commissione
relatore Prof. Bicchi, Antonio
Parole chiave
  • optimization
  • nonlinear spring
  • variable stiffness
Data inizio appello
14/07/2010;
Consultabilità
parziale
Data di rilascio
14/07/2050
Riassunto analitico
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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