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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 8, 65-77, 2017
https://doi.org/10.5194/ms-8-65-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
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.
A new joint mechanism design is presented in this study which has a potential use in robotics,...
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