机器人2026，Vol.48Issue(3)：496-505,10.DOI:10.13973/j.cnki.robot.240289
基于反比例函数曲线滑槽的变刚度驱动器优化设计
Optimal Design of Variable-stiffness Actuator Based on Inverse Proportional Function Curve Groove
摘要
Abstract
In order to achieve precise control of robot joint stiffness and balance the intrinsic safety and high operational efficiency of robots,a design method of variable-stiffness actuator based on inverse proportional function curve groove(IPFC-VSA)is studied.Using a leaf spring as the elastic element of VSA,the roller is driven by a screw to move along an inverse proportional curve path,changing the effective length of the leaf spring to adjust its stiffness.The contour of the chute is modeled,simulated,and optimized to obtain parameters that balance stiffness range,linearity of stiffness curve,and structural feasibility.A prototype system is developed and experimental research is conducted.The experimental results show that IPFC-VSA has excellent stiffness control characteristics,with a nonlinear error of no more than 4％in its stiffness curve.It has a large range of variable stiffness and the ability to quickly change stiffness.In addition,the joint stiffness is decoupled from the deflection angle,effectively improving the controllability and accuracy of stiffness.Finally,it is verified that IPFC-VSA achieves intrinsic safety during the collision process by adjusting joint stiffness,through simulated collision experiments with the head.关键词
变刚度关节/反比例函数曲线滑槽/刚度曲线优化/协作机器人Key words
variable-stiffness joint/inverse proportional function curve groove/optimization of stiffness curve/collabora-tive robot引用本文复制引用
江畔,潘新安,王洪光..基于反比例函数曲线滑槽的变刚度驱动器优化设计[J].机器人,2026,48(3):496-505,10.基金项目
国家自然科学基金(U20A20282,52075531) （U20A20282,52075531）
辽宁省国际科技合作计划(2023JH2/10700008). （2023JH2/10700008）
