Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 8, issue 1
Articles | Volume 8, issue 1
https://doi.org/10.5194/ms-8-65-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-8-65-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 8, issue 1
Research article
 | 
22 Mar 2017
Research article |  | 22 Mar 2017

Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics

Cihat Bora Yigit and Pinar Boyraz

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Short summary
A new joint mechanism design is presented in this study which has a potential use in robotics, particularly in humanoid robot designs, because of its variable stiffness characteristics, lightweight and remotely-actuated structure. A helical spring inside the mechanism brings compliance which increases the safety. The spring is analyzed with a method proposed in the paper and verified by FEM. The kinematic and the dynamic models are obtained and experimentally validated.
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