A Cascadable Expandable Variable Stiffness Robot Joint
A robot joint and variable stiffness technology, applied in the field of robotics, can solve the problems of large joint rotational inertia, limited use occasions, and lack of consistent standards, etc., and achieve the effect of large stiffness adjustment range, reduced rotational inertia, and high adjustment accuracy
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[0019] Embodiments of the present invention are described below with reference to the drawings.
[0020] Such as figure 1 , 2 , 3, 4, and 5, the variable stiffness robot joint that can be cascaded and expanded in the present invention includes a flexible shaft-disk mechanism 26, a differential gear mechanism 33, a rotating support mechanism 36, a top cover 21, a bottom shell 13, and a gear holder shell 31. Among them, the number of 26 flexible shaft disk mechanisms can be greater than 1, and the number is determined by the energy storage requirements of the system. figure 1 , 2 The illustrated embodiment employs two identical flexible disc mechanisms 26 and 26' mounted in cascade.
[0021] Such as image 3 As shown, the structural main body of the flexible shaft-disc mechanism 26 is an arc leaf spring mounting seat 8, and three arc leaf springs 9 symmetrically distributed are installed on the inside of the arc leaf spring mounting seat 8, and one end of each arc leaf sprin...
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