A novel variable stiffness mechanism with linear spring characteristic for machining operations

摘要

Variable stiffness mechanisms are able to mechanically reconfigure themselves in order to adjust their system stiffness. It is generally accepted that only antagonistic designs, featuring quadratic springs, can produce linear spring-like behaviour (i.e., a linear relationship between the displacement and its resultant force). However, these antagonistic designs typically are not as energy efficient as series-based designs. In this work, we propose a novel variable stiffness mechanism that can achieve both linear-spring behaviour whilst maintaining an energy efficient characteristic. This paper will present the working principle, mechanical design and characterization of the joints stiffness properties (verified via experimental procedure). The pros and cons of this novel design with reference to the other Variable Stiffness Actuator (VSA) designs will be discussed based on experimental results and in the context of general machining tasks.