Phd-Talk: Variable Stiffness Mechanisms

In this talk, the general idea of ``Variable Stiffness Mechanisms'' is presented and a specific design to achieve stiffness modulation in mechanisms is explicated. Following this approach, we want to exploit Parallel Redundant Mechanisms (PRM) in addition with nonlinear springs to obtain controllable passive compliance in highly integrated designs. Accordingly, a discussion about stiffness representations and state-of-the art kinematics and dynamics are presented that will serve for further work towards such designs. Furthermore, first results of a testbed design and related kinematics are shown an discussed.