Programmable Stiffness Joint
Team Members
Amanda Care, Eric Nickel, James Yeung
Overview
The Programmable Stiffness Joint is a device that takes a user input (turning a simple dial) and adjusts its stiffness to the desired level.
The goal of our project is:
This is how it works:
We will discuss:
Stiffness Theory
The rotational stiffness of a joint is defined as the moment required to cause a given angular rotation.
Fundamental Equations
Based upon the diagram at right, the following variables are defined for these equations:
Give full description of the theory here
MATLAB Simulation
Simulations of the above theory in MATLAB produced the following results.
MATLAB Code
Insert MATLAB code here with appropriate comments.
Mechanical Design
The primary structural components used in this device are:
The sensors/actuators used are:
Electrical Design
The primary components used in this circuit are:
- Controller (PIC)
Code
Results
Our resulting design:
Reflections
- More planning
- Simpler mechanical design
- More efficient code
