Dynamic Modelling and Experimental Investigation of an Active–Passive Variable Stiffness Actuator

Dynamic Modelling and Experimental Investigation of an Active–Passive Variable Stiffness Actuator

To overcome the limitations imposed by the low flexible angle of conventional robots, an active–passive variable stiffness elastic actuator (APVSA) is investigated and a nonlinear dynamic model for the APVSA is established, considering the factors of the moment of inertia, stiffness and damping of e...

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Bibliographic Details
Main Authors: Caidong Wang, Zhou Zhang, Yanqiu Xiao, Pengfei Gao, Xiaoli Liu
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Actuators
Subjects:
variable stiffness actuators
nonlinear dynamics
dynamical model
Online Access:https://www.mdpi.com/2076-0825/14/4/169
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