Static analysis and design strategy of two antagonistically actuated joints

Abstract

This paper compares the static performances of two types of antagonistically actuated joints: a revolute (R) joint and an antiparallelogram (X) joint. Both joints are equipped with lateral springs and actuated with two opposite cables running through the springs. The comparative study is conducted on the basis of their wrench-feasible workspace and stiffness. A methodology is proposed for the optimal design of each joint. Eventually, an R-joint and an X-joint, optimized for the same prescribed wrench-feasible workspace, are compared on the basis of their maximal actuation forces.