外骨骼机器人柔性变刚度驱动器设计

Design of Variable Stiffness Actuator of Exoskeleton Robot

关节驱动器是外骨骼机器人的核心组成部分,目前传统的刚性驱动器的缺点是:体积大、能耗多以及无法避免外界冲击。为此该文提出一种全新的柔性变刚度驱动器,其基于弹簧的刚度控制,并对此柔性机构进行了理论验证,结果表明全新的柔性变刚度驱动器很好地解决了传统刚性驱动器的主要缺点。

Joint actuator is core part of exoskeleton robot. Tranditional stiff actuator has disadvantages such as big size、too many energy consumption and unable to avoid external shocks.The paper proposes a new kind of variable stiffness actuator which is based on variable stiffness of helical spring.Result shows that the new variable stiffness actuator solves main disadvantages of traditional stiff actuator.