Research on Variable Stiffness Actuator of Compliance Robot Joint

Abstract

In the complex human-machine collaboration environment, it is particularly important that the robot joint has a certain variable compliance performance. The variable stiffness joint based on the antagonistic principle is a research hotspot of the compliant robot joint. In this paper, a variable stiffness actuator is proposed. This design eliminates the antagonistic effect of the elastic component in the antagonistic joint and improves the energy storage density. Theoretical analysis of nonlinear characteristics is carried out. In addition, it was studied by simulation and experiment.