A team from Guangdong University of Technology has developed a novel flexible variable-stiffness joint actuator (VSJA) that combines leaf springs with a variable fulcrum lever mechanism, aiming to improve robot controllability and safety in complex environments. The actuator achieves stiffness variation through an elliptical groove gear transmission, which enables a compact design with a wide, continuously adjustable stiffness range.
Key takeaways
- Stiffness is regulated by moving the lever fulcrum along an elliptical path, altering contact forces and output torque.
- An explicit stiffness expression was derived using cantilever beam deflection theory and Taylor expansion, simplifying stiffness determination.
- Matlab and Adams simulations validated the theoretical model, and experiments confirmed stiffness accuracy and good position tracking performance.
The design integrates all components onto a central shaft for compactness, with four leaf springs arranged symmetrically to ensure smooth motion. This actuator addresses the need for safe human-robot interaction and adaptability in industrial applications, offering a practical solution for variable-stiffness joints.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-01-13 · “一种新型柔性变刚度关节执行器的设计及性能分析”