Joint actuator plays an important role in improving the robot adaptability in unstructured environment and reducing energy consumption. According to the task, the rack-based variable stiffness actuator can adjust the joint stiffness in real time. The working principle of the rack-based variable stiffness actuator is elaborated and the mechanical design is presented. Through simulation and experiments, the validity of the rack-based variable stiffness actuator is proved. The rack-based variable stiffness actuator can effectively reduce the overall volume of the actuator and has a large adjustment range with short adjustment time.
WANG Wei
,
LIU Lidong
,
WEI Lai
,
LIU Fei
,
YUN Chao
. Design and Research of Rack-based Variable Stiffness Actuator[J]. Journal of Mechanical Engineering, 2016
, 52(1)
: 26
-33
.
DOI: 10.3901/JME.2016.01.026
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