Download or read book Variable Stiffness Links for Collaborative Robots written by Yitong Zhou and published by . This book was released on 2020 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: High injury severity occurs when a stiff robotic system hits an operator. Introducing compliance into robotic components including joints, links, and grippers reduces the severity of impact and enables safe human-robot interaction. The two aims of this research are to develop variable-stiffness mechanisms for safe co-robot links, and develop and model soft actuators and grippers based on these mechanisms. A discrete layer jamming mechanism is developed that is composed of a multilayered beam and multiple discrete variable pressure clamps placed along the beam; system stiffness can be varied by changing the pressure applied by the clamps. In comparison to continuous layer jamming, discrete layer jamming offers advantages of simplicity with implementation of dynamic variable pressure actuators for faster control, better portability, and no sealing issues due to no need for an air supply.