含弹性环的机器人关节变刚度驱动器设计分析
Design of Variable Stiffness Actuator with an Elastic Ring for Robot Joint

针对机器人与人共享工作环境所带来的人机交互安全问题及工作能耗大、效率低等问题，提出了一种含有弹性环的机器人关节变刚度驱动器；运用解析法分析了弹性环的刚度特性，得到其理论最大偏转角为1.5°；通过碰撞和抛球实验验证了所设计的关节驱动器的实际缓冲和储能效果；结果表明：所设计的含有弹性环的机器人关节变刚度驱动器具有良好的吸收冲击的能力，最大偏转角约为1.7°，可有效保护碰撞发生时的人机安全。同时，储能效果明显，可提高能量使用效率。
Aiming at solving the problem of safe human-robot interaction and energy efficiency caused by human-robot sharing their work environment, a variable stiffness actuator with an elastic ring for robot joint has been proposed. The elastic ring's stiffness characteristic was figured out through analytical method, in which the maximum theoretical deflection angle is 1.5°. With the collision and the tossing tests, the actuator's capability of absorbing the shock of impact and energy storage was testified. The results indicate that the variable stiffness actuator with an elastic ring is capable of absorbing shock, and the actual deflection angle up to 1.7°, which ensures safe human-robot interaction. Simultaneously, the effect of energy storage is obvious so as to improve energy efficiency