Simultaneous stiffness generation and internal load distribution in redundantly actuated mechanisms

Deals with the investigation and subsequent application of the antagonistic properties inherent in redundantly actuated mechanisms. Redundantly actuated systems have more independent force inputs than they have kinematic freedoms, and are therefore able to actively control the internal load state (preload) of the system. This internal loading creates an effective system stiffness, directly analogous to that of a wound metal spring. This stiffness, in turn, has been shown to be a beneficial operational property and a good means of characterizing the antagonistic effect resulting from redundant actuation. In particular, it is shown that the internal load state can be adjusted independently while maintaining a given desired stiffness and motion in hyper-redundant systems.<>