VSA-HD: From the enumeration analysis to the prototypical implementation

This paper presents design, implementation and performance of a new Variable Stiffness Actuator (VSA) based on Harmonic Drives (VSA-HD), which is an improvement over past work reported in. While previous prototypes have been developed to demonstrate the effectiveness of the variable stiffness actuation principle and the possibility to develop a compact and reliable actuator, the VSA-HD has been obtained by exploring the performance of the enumeration of all VSA made out a basic components set (i.e. two prime movers, two harmonic-drive gears, and the output shaft) and all the feasible interconnections between them as presented in. Along this enumeration the VSA-HD conceptual layout has been selected as being good trade-off between mechanical complexity and overall performance. This paper discusses in depth the actuator mechanical layout, highlighting the main characteristics of the new design. A model for the actuator is introduced and validated by experimental results.