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Static analysis and design strategy of two antagonistically actuated joints

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Academic year: 2021

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Figure

Fig. 1: Schematics of the joints under study: R-joint (left) and X-joint (right).
Table 1: Formulation of the stipulated conditions for the R-joint and the X-joint.
Fig. 2: Variation of F max inside the feasible design space of the joints.
Fig. 3: Plots of stiffness bounds corresponding to the optimal design of the joints for a specified WFW of [− 5π 18 , 5π18 ] with a payload: M = 0.2 Kg, d = 0.25 m.

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