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Modelling and Evaluation of Combinatorial Joint Stiffness in Robotic Systems

Institute
Munich Institute of Robotics and Machine Intelligence
Type
Bachelor's Thesis / Semester Thesis / Master's Thesis /
Content
experimental / theoretical / constructive /  
Description

Background: Joint stiffness plays a critical role in robotic system performance, particularly in tasks requiring precision, force control, or dynamic interaction. However, stiffness in robotic joints is rarely a single-dimensional property—it often results from the combination of multiple mechanical and control-related factors such as springs, transmissions, gear stages, and compliance in the structure. This project aims to develop a modular and combinatorial model that analyses joint stiffness as an emergent property of different components. This project will support the design and evaluation of more predictable, tunable, and task-specific joint architectures by exploring how various stiffness elements contribute to the overall joint behaviour, both in isolation and in combination.

Objectives:

  • Develop a modular model for joint stiffness representation

  • Classify and model different stiffness sources (spring, structural, parasitic, etc.)

  • Investigate how combined elements affect joint behaviour under varying loads.

  • Simulate and (if feasible) validate different stiffness configurations

  • Provide tools or visualisations for stiffness tuning and joint evaluation

Possible Work Packages:

  • Review literature on joint stiffness modelling, classification, and tuning methods

  • Define a framework for decomposing joint stiffness into controllable and passive components.

  • Create a modular simulation environment to model different stiffness combinations.

  • Analyse how different configurations affect joint stability, energy usage, and responsiveness.

  • Implement and test selected configurations on a joint-level hardware testbed

  • Summarise findings and develop a guideline or tool for evaluating joint stiffness behaviour.

Requirements

Prerequisites:

  • Educational Background: Mechanical Engineering (with electronics knowledge), Mechatronics Engineering

  • Skills:

    • Good understanding of robotic actuation and mechanical compliance

    • Familiarity with joint-level modelling (elasticity, damping, transmission effects)

    • Experience with simulation tools (e.g., MATLAB/Simulink, Simscape, or Adams)

    • Analytical thinking for decomposing and re-composing system properties

    • Hands-on skills in prototyping and testing joint modules

    • Optional: Experience with stiffness measurement or system identification techniques

    • Advanced solid mechanics knowledge

  • Mindset: Curiosity for how mechanical properties interact in complex systems.

  • GPA Requirement: Minimum GPA of 2.3

  • Language Requirement: C1 English

  • Expected Graduation: After May 2026

 

What do I offer?

  • A very challenging and scientifically satisfactory work.

  • Upon successful results, co-authorship in my publications.

  • Unlimited cold beverages.

  • Quarterly group dinners, during summer days, and barbecues.

  • Know-how about hardware development, design, machine tools, modelling, DAQs, sensors, experiment design, robotics, academic writing and presentation

 

Application Process:

 

Please follow this [link]  to reach the application form. It is essential for you to take the time to fill out the form in detail. Also, with this link, you will be able to check my other offerings as well; feel free to apply for more than one, but please make sure that you mention all these in your motivation letter. If you have further questions, please send me an email with the subject "MSc/BSc Thesis/Forschungspraxis/Internship/Semesterarbeit - Opening Title - Email Topic" 

 

If you have a friend or a group of friends you enjoy working with, I encourage you to apply together. A group application will be a great opportunity if you have different backgrounds, like mechanical hardware and programming. 

 

You can merge projects like Forschungspraxis+MSc Thesis.

 

Upon submission of your application, it will undergo a review process. If you are found to be a good fit for the topic, you will receive an invitation for an interview. We kindly ask that you refrain from sending follow-up emails to inquire about your application status until one week after the deadline for this call. You will receive an email notification if your application is unsuccessful, and all submitted information and documentation will be discarded.

 

Please note that part of the interview will include an oral evaluation of your background and comprehension of concepts pertinent to the thesis. Demonstrating thorough preparation, creativity, and initiative will be beneficial. Before the interview, you will be assigned a brief task (such as modelling, simulation, or a paper study), and additional questions will be related to this task during the interview.

 

Applications and theses must be submitted in English. Giving a final presentation and reporting for the non-thesis openings is also mandatory.

Tags
Spring Modelling, Elasticity, DAQ
Possible start
sofort
Contact
Mehmet Can Yildirim, M.Sc.
mehmet.yildirimtum.de