Three-degree-of-freedom switchable variable stiffness mechanism for minimization of repulsive force in robot assembly tasks

This paper presents a new switchable variable stiffness mechanism (SVSM) aimed at reducing reaction forces in robotic assembly tasks. The introduced switchable variable stiffness device (SVSD) exceeds existing variable stiffness mechanisms (VSMs) by providing a three-degree of freedom. Additionally, it features adaptable switchable springs suitable for various working environments, designed to be lightweight and easily manufacturable using 3D printing materials. A theoretical model of the SVSM was developed, with its accuracy validated through simulations and experimental trials. Furthermore, standard process models for two different assembly task scenarios were also developed and implemented, showcasing the improved assembly performance of the SVSM.