A Variable Stiffness Actuator Based on Second-order Lever Mechanism and Its Manipulator Integration
Zhangxing Liu Hongzhe Jin Hui Zhang Yubin Liu Yilin Long Xiufang Liu Jie Zhao Zhangxing Liu Hongzhe Jin Hui Zhang Yubin Liu Yilin Long Xiufang Liu Jie Zhao
This paper presents a new variable stiffness actuator based on a second-order lever mechanism which has wide stiffness regulation range. By employing a novel symmetric structure design and improving the load capacity of the stiffness regulation module, the proposed actuator also shows well performance in load capacity, stiffness regulation response, and elastic hysteresis. On this basis, a variabl...