Elastic assembly capable of providing non-linear variable rigidity

Abstract

The invention discloses an elastic assembly capable of providing non-linear variable rigidity. The elastic assembly comprises a casing, a clamping assembly and a clamped piece, wherein the clamping assembly and the clamped piece are connected with the casing and are used for providing variable clamping forces, the interior of the clamping assembly is provided with an elastic piece which is used for providing all or part of clamping forces, the clamped piece is provided with a clamped surface for changing the clamped thickness of the clamped piece, and the clamped piece is used for outputting non-linearly-variable rigidity/force under the action of the variable clamping force provided by the clamping assembly. The elastic assembly has the advantages that the structure is compact, the running is reliable, and the elastic assembly can be applied to occasions requiring the non-linear rigidity; on one hand, the fixed non-linear rigidity is provided, and on the other hand, the rigidity is actively adjusted; the method is convenient for arranging robot joints, by utilizing the elasticity and variable rigidity, the safety problem of the robot in contact with people or unknown environments is favorably solved, and the variable rigidity property of human or animal limbs is favorably simulated, so the moving robot is more approximate to the variable rigidity property of the human or animals, the kinetic energy efficiency of the robot is improved, and the dynamic high-speed movement is realized.

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