CN109227596B - Variable-rigidity flexible joint device - Google Patents
Variable-rigidity flexible joint device Download PDFInfo
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- CN109227596B CN109227596B CN201811229430.5A CN201811229430A CN109227596B CN 109227596 B CN109227596 B CN 109227596B CN 201811229430 A CN201811229430 A CN 201811229430A CN 109227596 B CN109227596 B CN 109227596B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention provides a variable-rigidity flexible joint device which comprises an input control end, an output control end and a variable-rigidity module, wherein the input control end comprises an input flange and a shell, and the input flange drives the shell to rotate around the rotation center of the shell; the variable stiffness adjusting module comprises a leaf spring support, a plurality of leaf springs, a roller frame and a position adjusting mechanism, the leaf spring support and the shell are connected with each other through a connecting plate, the leaf springs are distributed on the periphery of the leaf spring support, and each leaf spring is provided with the roller frame; the position adjusting mechanism comprises a bidirectional screw rod, a first sliding block, a second sliding block and a connecting rod group, wherein the first sliding block and the second sliding block are respectively arranged on two sides of the connecting plate, the output control end comprises an output flange ring and push plates, and the push plates and the roller frames are in one-to-one correspondence and are in contact with each other; the invention can actively adjust the relative position of the roller frame and the leaf spring, has the advantages of large rigidity adjusting range, infinite rigidity output realization, compact structure, small friction, convenient rigidity adjustment and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a variable-rigidity flexible joint device capable of actively adjusting rigidity.
Background
The traditional robot joint has no elastic element, has overlarge rigidity, cannot ensure the safety of man-machine cooperation and the flexibility of a mechanical arm, and cannot be used in the fields of man-machine interaction, welding and spraying, shaft hole matching and the like; correspondingly, the simple flexible tandem module (SEA) cannot actively change the rigidity or even cannot change the rigidity, which means that the elastic energy storage cannot be fully utilized like biology, and the kinematics and dynamics performance which can be achieved by natural biology cannot be achieved, i.e. the actions of running, jumping, throwing, delivering and the like cannot be well completed.
In the aspect of flexible joints, the joint is divided into a single-motor drive joint and a multi-motor drive joint; the single motor driven is mostly studied as a series elastic driver (SEA), which is an elastic element connected between a common rigid driver and an external load, and when the elastic element is determined, the rigidity characteristic of the SEA is also determined; the SEA adopts impedance control, but does not need various sensors, and can realize the control of output force more accurately only by measuring the deformation of the elastic element and feeding the deformation back to the control system; the dual-motor flexibility means that one joint is driven by two motors, so that the rigidity and the output position of the joint can be independently or respectively adjusted, and the flexible joint with variable rigidity is also a real flexible joint.
The variable stiffness joint for domestic research, such as the variable stiffness joint for easy victory research of Harbin university, realizes stiffness change by using a cam roller and a linear spring, and then for example, Yi Peng in the variable stiffness flexible rotary hip joint of the monopod bounce robot and characteristic research thereof, wherein the output stiffness characteristic of the variable stiffness mechanism introduced in the article is mainly completed by two driving discs with different chute types, wherein when the driving discs synchronously move, all parts in the mechanism integrally rotate, the relative position does not change, and the output stiffness is constant. When the driving disc moves asynchronously, the fulcrum sliding block in the output part moves, and the stress position of the output part in the joint is changed through a connecting rod mechanism, so that the output rigidity is changed. However, the prior art has the defects of small variable stiffness range and poor integral structure stiffness, and simultaneously, the cable driving mode can generate creep deformation after being used for a long time.
Based on this, it is desirable to provide a variable stiffness flexible joint device that can actively adjust stiffness.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a variable-rigidity flexible joint device, which actively adjusts the relative position of a roller frame and a leaf spring through a position adjusting mechanism to change the output rigidity of an output flange ring and has the advantages of compact structure, small friction, convenient rigidity adjustment and the like.
In order to achieve the above object, the present invention provides a variable stiffness flexible joint device, including an input control end, an output control end and a variable stiffness module, wherein:
the input control end comprises an input flange and a shell fixedly connected with the input flange, and the input flange drives the shell to rotate around the rotation center of the shell;
the variable stiffness adjusting module comprises a leaf spring support, a plurality of leaf springs, a roller frame and a position adjusting mechanism for adjusting the position of the roller frame, the leaf spring support and the shell are connected with each other through a connecting plate, the plurality of leaf springs are uniformly distributed on the periphery of the leaf spring support around the rotation center of the shell, and each leaf spring is provided with the roller frame;
the position adjusting mechanism comprises a lead screw arranged at the rotation center of the shell, a first sliding block and a second sliding block which are arranged on the lead screw, and a connecting rod group, wherein the first sliding block and the second sliding block are respectively arranged at two sides of the connecting plate; one end of a connecting rod in the rest part of the connecting rod group is hinged to the second sliding block, and the other end of the connecting rod is hinged to the end part of the roller frame close to the second sliding block;
the output control end comprises an output flange ring which is rotatably arranged relative to the shell and a push plate which is fixedly arranged in the output flange ring, and the push plate and the roller frame are in one-to-one correspondence and are in contact with each other, so that the output flange rotates synchronously along with the roller frame.
In the scheme of the invention, the shell can be cylindrical, and the variable stiffness adjusting module is arranged in the shell, so that the whole modular design is facilitated; specifically, the leaf spring support, the connecting plate and the housing may be integrally formed, or may be fixedly connected together by using connection methods such as bolts and welding after being manufactured respectively.
Furthermore, a plurality of leaf springs are arranged on the periphery of the leaf spring support, for example, 3-6 leaf springs are arranged, and for example, 4 leaf springs are arranged; preferably, an installation groove for fixing the leaf spring is formed on the outer circumference of the leaf spring support, the groove direction of the installation groove is the same as the rotation center of the housing, and the leaf spring is fixedly arranged in the installation groove. Specifically, each leaf spring is provided with a roller frame, wherein each roller frame is distributed in a circumferential array, and the distance between each roller frame and the rotation center of the shell is the same.
More specifically, the connecting rods in part of the connecting rod groups are respectively hinged with the first sliding block and one end of the roller frame to form an umbrella-shaped structure similar to an umbrella framework in the umbrella, the unfolding and folding of the structure are realized by adjusting the positions of the sliding blocks, the specific contact position between the roller frame and the leaf spring is further changed (namely the fulcrum position of the roller frame relative to the leaf spring is changed), and the effect of changing the rigidity is realized; in order to avoid that the roller frame moves smoothly in the process of changing the position and is not acted by a force which is not along the length direction of the leaf spring, the length direction of the leaf spring is the same as the radial direction of the shell (the direction of the rotation center of the shell is the same as the axial direction), the invention adopts two symmetrical umbrella-shaped structures, namely a first slide block and a second slide block which are respectively connected to the roller frame through connecting rods.
The position adjusting mechanism is further provided with a motor used for driving the bidirectional screw rod to rotate, the bidirectional screw rod is further provided with a first thread section and a second thread section, the thread turning directions of the first thread section and the second thread section are opposite, the first sliding block is arranged on the first thread section in a rotating mode, the second sliding block is arranged on the second thread section, and the first sliding block and the second sliding block are driven by the motor to synchronously slide in opposite directions or in opposite directions on the bidirectional screw rod.
The output flange ring and the shell rotate relatively, a certain gap can be formed between the output flange ring and the shell, and the output flange ring and the shell can also be rotatably connected in a sleeved mode or a mode of arranging crossed roller bearings. The push plate is fixed to be established within the output flange circle, contacts with the roller frame, and is specific, all has the push plate in the both sides of roller frame rotation direction, no matter the roller frame corotation or reversal, all can make the push plate rotate along with the roller frame is synchronous.
According to another embodiment of the invention, the push plates are arranged perpendicular to the rotation center of the shell, a gap is formed between every two adjacent push plates to form an upper through groove, and the roller frame penetrates through the upper through groove to be in contact with the push plates, wherein the contact between the roller frame and the push plates can be a contact mode without a gap completely or a contact mode with a small gap, and the rotation between the roller frame and the push plates is synchronous and does not generate a rotation process of differential rotation or separation phenomenon due to the difference of rotation speeds.
According to another embodiment of the invention, the leaf spring support is provided with a bearing support, the output control end further comprises a connecting seat fixedly arranged in the output flange ring, and the connecting seat is rotatably connected with the bearing support through a rotating bearing, wherein the connecting seat is in interference fit with an outer ring of the rotating bearing, and the bearing support is in interference fit with an inner ring of the rotating bearing; in the scheme, the rotary bearing is arranged to realize the relative rotation between the output flange ring and the leaf spring support (shell), the interference fit is a tight fit connection relation, and the relative sliding phenomenon cannot be generated between the connecting seat and the outer ring of the rotary bearing and between the bearing support and the inner ring of the rotary bearing in the rotation process of the joint device;
specifically, in order to axially limit the rotating bearing, that is, the rotating bearing does not displace on the rotation center of the housing any more, a retainer ring is arranged on the bearing support to lock the rotating bearing to the bearing support.
According to another specific embodiment of the invention, the connecting plate is provided with a lower through groove for passing through the connecting rod, the connecting rod with two ends respectively hinged with the roller frame and the second sliding block passes through the lower through groove, and particularly, the groove wall of the lower through groove is not in contact with the roller frame, so that when the relative position between the roller frame and the leaf spring is adjusted, the lower through groove does not generate friction influence on the roller frame.
According to another embodiment of the present invention, the position adjusting mechanism is further provided with a motor for driving the bidirectional screw to rotate, for example, a stepping motor is adopted, wherein a coupler may be provided at an output end of the stepping motor to connect with the bidirectional screw, so as to further ensure accuracy of stiffness adjustment.
According to another embodiment of the invention, the roller frame comprises hinged brackets arranged at both ends and two rollers respectively connecting the two hinged brackets; the hinge support is provided with a hinge shaft hinged with the connecting rod, a gap is reserved between the two rollers to form a sliding groove, the leaf spring is arranged in the sliding groove to enable the rollers to slide along the leaf spring in the radial direction of the shell, and the radial direction of the shell refers to the direction in which the rollers slide on the leaf spring and is perpendicular to the rotation center of the shell.
According to another embodiment of the present invention, the outer circumference of the leaf spring holder is provided with a mounting groove for fixing the leaf spring, and the groove direction of the mounting groove is the same as the rotation center of the housing.
According to another embodiment of the present invention, the input control end is further provided with a bearing mounting seat, the input flange is fixedly connected with the housing through the bearing mounting seat, the bearing mounting seat is provided with a crossed roller bearing for connecting with external equipment, and the crossed roller bearing can be rotatably connected with the external equipment such as a mechanical arm, so as to facilitate the modular design of the flexible joint.
Compared with the prior art, the invention has the advantages that: the invention creatively uses the umbrella frame structure, can effectively avoid the friction force in the rigidity adjusting process, and has stable operation and high reliability; the purpose of the roller frame can be accurately controlled by rotating the bidirectional screw rod, so that accurate output of rigidity is realized, a larger rigidity adjusting range is obtained, and even full-rigidity output can be realized.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of a variable stiffness flexible joint device according to embodiment 1 of the present invention;
FIG. 2 is a cross-sectional view of a variable stiffness flexible joint apparatus according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of a variable stiffness module of a variable stiffness flexible joint device according to embodiment 1 of the present invention;
FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective;
FIG. 5 is a schematic structural diagram of a stiffness adjusting mechanism in a variable stiffness flexible joint device according to embodiment 1 of the present invention;
FIG. 6 is a schematic view of a portion of the structure of FIG. 5;
FIG. 7 is a schematic diagram of stiffness adjustment in a variable stiffness flexible joint apparatus according to embodiment 1 of the present invention;
FIG. 8 is a schematic diagram of the cooperation of a single roller frame and a connecting rod in the variable-stiffness flexible joint device according to embodiment 1 of the invention;
fig. 9 is a schematic structural diagram of a roller frame in a variable stiffness flexible joint device according to embodiment 1 of the invention.
Detailed Description
Example 1
The embodiment provides a variable stiffness flexible joint device, which comprises an input control end 1, a variable stiffness module 2 and an output control end 3, as shown in fig. 1 to 9.
The input control terminal 1 includes a housing 11 and an input flange 12, wherein the input flange 12 is fixedly disposed on the housing 11, and the two are connected by, for example, bolts, and accordingly, an external motor can be used to drive the input flange 12 to rotate, so as to drive the housing 11 to rotate around its rotation center.
The variable stiffness module 2 comprises a leaf spring support 21, a plurality of leaf springs 22, a roller frame 23 and a position adjusting mechanism 24; the leaf spring holder 21 is connected to the housing 11 by a link plate 25, and a plurality of leaf springs 22 are uniformly distributed around the outer circumference of the leaf spring holder 21 around the center of rotation of the housing 11, wherein preferably, for example, three to six leaf springs 22 are provided, and four leaf springs 22 are shown in fig. 1, for example, each leaf spring 22 is provided with a roller frame 23; in particular, the position adjustment mechanism 24 is used to adjust the position of the roller carriage 23 on the leaf spring 22, thereby changing the effective active length of the leaf spring 22.
Referring to fig. 5, the position adjusting mechanism 24 includes a bidirectional screw 241 disposed at the rotation center of the housing 11, a first slider 242 and a second slider 243 disposed on the bidirectional screw 241, four upper links 244 and four lower links 245, wherein an upper rib structure is formed between the first slider 242 and the four upper links 244, a lower rib structure is formed between the four lower links 245 and the second slider 243, the upper rib structure and the lower rib structure are respectively unfolded and folded by adjusting the positions of the first slider 242 and the second slider 243 on the bidirectional screw 241, the contact position between the roller frame 23 and the leaf spring 22 is changed by the action of the upper links 244 and the lower links 245, the fulcrum position of the leaf spring 22 is changed, and the effect of changing the rigidity is achieved.
Referring to fig. 6, which shows the connection relationship of the single leaf spring 22, the roller frame 23, the upper link 244 and the lower link 245, one end of the upper link 244 is hinged to the first slider 242, the other end of the upper link 244 is hinged to the upper end of the roller frame 23, one end of the lower link 245 is hinged to the second slider 243, and the other end of the upper link 244 is hinged to the lower end of the roller frame 23.
The principle of rigidity adjustment of the variable-rigidity flexible joint device is as follows: the rigidity of the joint can be changed by changing the radial position of the roller frame 23 on the leaf spring 22 to change the length of the leaf spring 22 connected into the transmission chain; referring to fig. 7, where D is the diameter of the intermediate shaft, the effective length of leaf spring 22 is: l + D/2, and the rigidity of the joint can be changed by changing the effective length.
The specific stiffness calculation formula is as follows:
according to the static moment balance, the following steps are provided:
wherein σiIs the rotational stiffness of the leaf spring;
the deflection of a single leaf spring can be estimated from the deformation constraint equation as:
dδ＝(1+D/2)dθ (2)
according to the deflection formula, the following parameters are obtained:
the rigidity of the single leaf spring obtained by the simultaneous (1), (2) and (3) is as follows:
further, four leaf springs are connected in parallel, so that the total rigidity of the flexible joint device in the figure 1 is obtained as follows:
wherein, l is the access length of leaf spring, also is the distance of roller to jackshaft, can see that, changes l can change the rigidity of joint, and when l tends to infinitesimal hour, the rigidity of joint approaches infinity, and the joint can realize pure rigidity output this moment.
The output control end 3 comprises an output flange ring 31 and a push plate 32, wherein the output flange ring 31 and the shell 11 rotate relatively, the push plate 32 is fixedly arranged inside the output flange ring 31, the push plate 32 and the roller frame 23 are in one-to-one correspondence and contact with each other, and the rotation of the roller frame 23 drives the push plate 32 and the output flange ring 31 to rotate synchronously.
Referring to fig. 3, a connecting seat 33 is further fixedly arranged inside the output flange ring 31, the push plate 32 is arranged between the output flange ring 31 and the connecting seat 33, and the push plate 32 is respectively and fixedly connected with the output flange ring 31 and the connecting seat 33, wherein the push plate 32 is arranged perpendicular to the rotation center of the housing 11, a gap is formed between adjacent push plates 32 to form an upper through groove 34, and the roller frame 23 penetrates through the upper through groove 34 and contacts with the push plate 32; specifically, the contact between the roller frame 23 and the push plate 32 may be a contact with no gap at all, or a contact with a small gap, in which a state of the small gap is shown in fig. 3.
The leaf spring support 21 is provided with a bearing support 211, the connecting seat 33 is rotatably connected with the bearing support 211 through a rotating bearing 212, wherein the connecting seat 33 is in interference fit with an outer ring of the rotating bearing 212, and the bearing support 211 is in interference fit with an inner ring of the rotating bearing 212.
Correspondingly, referring to fig. 4, a lower through groove 251 for passing through lower link 245 is provided on connecting plate 25, and link passing through lower through groove 251 is provided, both ends of which are respectively hinged to roller frame 23 and second slider 243. Accordingly, the gap between the groove wall of the lower through groove 251 and the roller frame 23 is large.
Referring to fig. 1 and fig. 2 again, the position adjusting mechanism 24 in this embodiment is provided with a motor 246, and in order to improve the driving precision, a stepping motor may be selected to drive the bidirectional screw 241 to rotate, wherein the motor 246 may be fixed on the connecting seat 33 in the output flange ring 31 by using a motor mounting seat, for example; specifically, the bidirectional screw 241 has a first thread section and a second thread section, the thread turning directions of the first thread section and the second thread section are opposite, the first slider 242 is rotatably disposed on the first thread section, the second slider 243 is disposed on the second thread section, and the motor 246 drives the first slider 242 and the second slider 243 to synchronously slide in opposite directions or in opposite directions on the bidirectional screw 241.
One preferable structure of the roller frame 23 in the variable stiffness flexible joint of the invention is shown in fig. 8 and 9, and specifically comprises: hinge brackets 231 provided at both end portions and two rollers 232 respectively connecting the two hinge brackets 231; wherein the hinge bracket 231 is provided with hinge shafts 233 respectively hinged with the upper link 244 and the lower link 245, the two rollers 232 have a gap therebetween to form a slide groove 234, the leaf spring 22 is provided in the slide groove 234 such that the rollers 232 slide along the leaf spring 22 in a radial direction of the housing 11, specifically, the sliding direction of the rollers 232 is shown by an arrow in fig. 8.
Referring to fig. 5 again, in order to fix the leaf spring 22, it is preferable that an installation groove 213 for fixing the leaf spring 22 is provided at an outer circumference of the leaf spring holder 21, a groove direction of the installation groove 213 is the same as a rotation center of the housing 11, and it is further preferable that the snap spring 22 may be fixed by using, for example, a bolt or a claw.
Further, referring to fig. 1 and fig. 2 again, in order to realize modularization and more convenient rotation connection with external equipment such as a robot arm, a bearing mounting seat 13 is further provided at the input control end 1, the input flange 12 is fixedly connected with the housing 11 through the bearing mounting seat 13, for example, by a plurality of bolts, and correspondingly, a cross roller bearing 14 for connecting with external equipment is provided at the periphery of the bearing mounting seat 13, wherein the bearing mounting seat 13 is connected with an inner ring of the cross roller bearing 14 in a tight fit manner.
In the embodiment, the cross roller bearing of the input control end 1 is rotatably connected with the interface of the existing first end mechanical arm, the input flange 12 is connected with a power source of external equipment, such as a driving motor, so as to realize the rotation of the input flange 12 (the input of the rotation torque), and the output flange ring 31 is fixedly connected with the existing second end mechanical arm, for example, bolts are adopted, so that the installation of the variable-stiffness joint device can be completed; the rotation of the bidirectional screw 241 can be adjusted by adjusting the output angle of the motor, the first slider 242 and the second slider 243 slide in opposite directions or in opposite directions, and the "rib" -shaped connecting rod in the stiffness varying module 2 is unfolded or folded, so as to change the effective degree of the leaf spring 22, i.e. change the output stiffness.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (6)
1. The utility model provides a become flexible joint device of rigidity, includes input control end, output control end and becomes rigidity module, its characterized in that:
the input control end comprises an input flange and a shell fixedly connected with the input flange, and the input flange drives the shell to rotate around the rotation center of the shell;
the variable stiffness adjusting module comprises a leaf spring support, a plurality of leaf springs, a roller frame and a position adjusting mechanism for adjusting the position of the roller frame, the leaf spring support is connected with the shell through a connecting plate, the plurality of leaf springs are uniformly distributed on the periphery of the leaf spring support around the rotation center of the shell, and each leaf spring is provided with the roller frame; the position adjusting mechanism comprises a bidirectional screw rod arranged at the rotation center of the shell, a first sliding block and a second sliding block which are arranged on the bidirectional screw rod, and a connecting rod group, wherein the first sliding block and the second sliding block are respectively arranged on two sides of the connecting plate, one end of a connecting rod in part of the connecting rod group is hinged to the first sliding block, and the other end of the connecting rod is hinged to the end part of the roller frame close to the first sliding block; one end of a connecting rod in the rest part of the connecting rod group is hinged to the second sliding block, and the other end of the connecting rod is hinged to the end part, close to the second sliding block, of the roller frame;
the periphery of the leaf spring support is provided with a mounting groove for fixing the leaf spring, and the groove direction of the mounting groove is the same as the rotation center of the shell;
the roller frame comprises hinged supports arranged at two end parts and two rollers respectively connected with the two hinged supports; the hinge bracket is provided with a hinge shaft hinged with a connecting rod in the connecting rod group, a gap is reserved between the two rollers to form a sliding groove, and the leaf spring is arranged in the sliding groove to enable the rollers to slide along the leaf spring in the radial direction of the shell;
the output control end comprises an output flange ring which is rotatably arranged relative to the shell and a push plate which is fixedly arranged in the output flange ring, and the push plates and the roller frames are in one-to-one correspondence and are in contact with each other, so that the output flange rotates synchronously with the roller frames;
the push plate is perpendicular to the rotation center of the shell, a gap is formed between the adjacent push plates to form an upper through groove, the roller frame penetrates through the upper through groove and is in contact with the push plate, the leaf spring support is provided with a bearing support, the output control end further comprises a connecting seat fixedly arranged in the output flange ring, the connecting seat is rotatably connected with the bearing support through a rotating bearing, the connecting seat is in interference fit with the outer ring of the rotating bearing, and the bearing support is in interference fit with the inner ring of the rotating bearing.
2. A variable-stiffness flexible joint device as claimed in claim 1, wherein the connecting plate is provided with a lower through slot for passing through a connecting rod, and the connecting rod with two ends hinged to the roller frame and the second slider respectively is arranged to pass through the lower through slot.
3. The variable stiffness flexible joint device according to claim 1, wherein the position adjustment mechanism is further provided with a motor for driving the bidirectional lead screw to rotate.
4. The variable stiffness flexible joint device according to claim 3, wherein the bidirectional screw has a first threaded section and a second threaded section, the first threaded section and the second threaded section having opposite thread directions; the first sliding block and the second sliding block are driven by the motor to synchronously slide in opposite directions or in opposite directions on the bidirectional screw rod.
5. The variable stiffness flexible joint device according to claim 1, wherein the number of leaf springs is 3-6.
6. The variable stiffness flexible joint device according to claim 1, wherein the input control end is further provided with a bearing mount, the input flange is fixedly connected with the housing through the bearing mount, and the bearing mount is provided with a cross roller bearing for connecting with external equipment.
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| CN110253623B (en) * | 2019-06-21 | 2023-07-07 | 上海交通大学 | Robot joint module with variable rigidity |
| CN110936363B (en) * | 2019-11-28 | 2023-02-17 | 中山大学 | Rope-driven flexible mechanical arm and robot |
| CN111002341A (en) * | 2019-12-19 | 2020-04-14 | 中国科学院宁波材料技术与工程研究所 | Rope-driven three-degree-of-freedom flexible joint stiffness measurement system and method |
| CN112894790B (en) * | 2021-01-26 | 2022-08-02 | 哈尔滨工业大学（深圳） | Active variable-stiffness joint based on screw rod thread pair |
| CN114905541B (en) * | 2022-04-06 | 2024-03-22 | 重庆奔腾科技发展有限公司 | Variable-rigidity robot joint |
| CN114571466B (en) * | 2022-04-06 | 2023-05-26 | 广东工业大学 | Rigidity-variable device, rigidity-variable method thereof and modeling method of rigidity model |
| CN114750203B (en) * | 2022-04-21 | 2023-05-23 | 中山大学 | Rigidity driven diameter continuously adjustable mechanical arm |
| CN115741771B (en) * | 2022-11-16 | 2024-04-12 | 安徽工程大学 | Unidirectional compaction bilateral friction variable-rigidity compliant joint and working method |
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| WO2017180968A1 (en) * | 2016-04-14 | 2017-10-19 | Marquette University | Variable stiffness series elastic actuator |
| CN106737456A (en) * | 2016-12-02 | 2017-05-31 | 哈尔滨工业大学深圳研究生院 | Fold mechanism with multi-pose platform |
| CN206409816U (en) * | 2017-01-13 | 2017-08-15 | 温州大学 | A kind of variable diameter straight tube road adaptive robot |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
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