一种基于正反牙滚珠丝杠的对称式变刚度柔性驱动器
By using a symmetrical variable stiffness flexible actuator based on forward and reverse ball screws, the problem of uncontrollable stiffness of the actuator in rehabilitation robots has been solved, realizing active variable stiffness and safety adjustment of the actuator, and improving the adaptability and safety of human-computer interaction.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHANGCHUN UNIV OF TECH
- Filing Date
- 2023-03-23
- Publication Date
- 2026-07-17
AI Technical Summary
The stiffness of the actuators in existing rehabilitation robots is uncontrollable and difficult to adjust, making it difficult to ensure safety and adaptability during human-computer interaction.
Design a symmetrical variable stiffness flexible actuator based on a forward and reverse toothed ball screw. The actuator actively changes stiffness by controlling the pre-compression of the spring through the forward and reverse toothed ball screw, and achieves reciprocating rotational motion by combining a lever mechanism. A PD controller is used for position and stiffness control.
It enables a wide range of adjustment of the actuator stiffness, improves the safety and adaptability of human-machine interaction, and provides technical support for achieving human-machine integration.
Smart Images
Figure CN116252328B_ABST