Flexible variable-stiffness joint mechanism
A flexible joint and variable stiffness technology, applied in the field of robotics, can solve the problems of large energy consumption for adjusting stiffness, poor passive stiffness characteristics, and small stiffness adjustment range, and achieves a large stiffness adjustment range, small friction, and enhanced load capacity. Effect
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[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0025] combine figure 1 , figure 2 , image 3 , Figure 4, a flexible joint variable stiffness mechanism, including an input structure 1 and an output structure 2, the input structure 1 and the output structure 2 are connected up and down correspondingly; the input structure 1 includes a pair of guide rod shafts 11-1, 11-2, A pair of guide rods 12-1, 12-2, a pair of compression springs 13-1, 13-2, a pair of spring mounts 14-1, 14-2 and an input...
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