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DEVICE FOR GENERATING STIFFNESS AND METHOD FOR CONTROLLING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME
DEVICE FOR GENERATING STIFFNESS AND METHOD FOR CONTROLLING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME
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机译:用于产生刚度的装置以及用于控制包括该装置的机器人的刚度和关节的方法
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摘要
The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.
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