A Novel Mechanism for Rotational Variable Stiffness
摘要
This paper describes a variable-stiffness mechanism for rotational degrees of freedom that allows continuous output rotation by locating the stiffness element between the motor and its local mount point. It uses a novel gear-rack system to function both as a stiffness adjustment mechanism and as a variable lever, thereby avoiding the use of prismatic joints. The kinematic and force equilibrium models are presented, and simulation results illustrate the behavior of the device.