Aiming at solving the safety and reliability problem generated from human-robot interactions, a variable stiffness joint actuation system was proposed. A kind of parallel adjustable compliance flat torsional spring for achieving variable stiffness was employed. Stiffness of the flat torsional springs was analyzed, and the relationships between stiffness of the flat torsional spring and deflection angle, preload were built, which provides a theoretical basis for the performance optimization of the joint actuation system. The simulation results indicate that the flat torsional spring's essential deflection angle, having a large stiffness variation, approximately from 0° to 7°, which meets the stiffness requirements for service robot joints. The system not only retains the characteristics of the variable rigidity,and reduces the volume of space for the elastic module,and greatly simplifies the system structure, it is easy to maintain.%针对现代服务机器人安全性、环境适应性和能量利用率等问题,提出了一种可变刚度的关节驱动系统,该系统利用一种并联且具有特殊几何结构的平面扭簧作为弹性模块以实现其变刚度特性.分析了平面扭簧的刚度特性,通过对平面扭簧的结构特点及其力学特性的分析,建立了扭簧刚度与偏转角度及扭簧刚度与预紧量之间的关系,为关节驱动系统的性能优化提供了理论依据.仿真结果表明,所用平面扭簧偏转角度约为7°,刚度变化范围大,能够满足服务机器人关节刚度需求.该系统既保留了刚度可变的特性,又减少了弹性模块所占的空间体积,并大大简化了系统的结构,便于维护.
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