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Development and Testing of Joint Stiffness; Identification and Elastic Element Design

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

Background: As robotic systems increasingly incorporate compliant elements for safety, efficiency, or task-specific performance, understanding and characterising joint stiffness becomes essential. However, a single component does not always define real-world stiffness—it emerges from the combination of elastic elements, structural features, and manufacturing tolerances. This project addresses two key aspects of joint-level stiffness characterisation: (1) the development of a test setup to identify joint stiffness and its resolution under varying conditions, and (2) the design and modelling of elastic elements, such as cage springs, that serve as tunable stiffness sources. Together, these efforts support the broader goal of creating reliable, reproducible tools for joint characterisation and elastic component design in robotics.

Objectives:

  • Develop a joint stiffness and resolution test setup.

  • Investigate methods to measure power flow and stored energy in elastic joints.

  • Design and model tunable elastic elements (e.g., cage springs)

  • Validate stiffness behaviour through experimental testing.

  • Support future integration into generalised joint models

Possible Work Packages:

  • Research stiffness identification methods and their application to robotic joints

  • Design and build a test bench to characterise joint stiffness under load

  • Investigate sensor integration (e.g., encoders, force/torque, displacement sensors)

  • Develop procedures for repeatable stiffness and resolution measurements

  • Design and model cage spring elements with tunable properties (geometry, material, boundary conditions)

  • Validate stiffness and maximum deflection of the designed springs via simulation and experiment

  • Document test procedures and provide guidelines for future use in joint design workflows

Requirements

Prerequisites:

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

  • Skills:

    • Advanced CAD skills for mechanical design and integration

    • Good understanding of stiffness and compliance in mechanical systems

    • Experience with FEA tools (e.g., Ansys, Abaqus)

    • Hands-on skills in mechanical prototyping and testing

    • Familiarity with sensors and DAQ systems 

    • Interest in structured testing and repeatable measurement workflows

  • Mindset: A hands-on, “maker” attitude toward experimental and iterative problem-solving.

  • 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
Robot joint, Spring Modelling, Benchmarking
Possible start
sofort
Contact
Mehmet Can Yildirim, M.Sc.
mehmet.yildirimtum.de