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<p>To enhance the adaptability and safety of robots in human–robot interaction, a new type of variable stiffness (VS) joint was developed based on a gear and rack design, and a single robot leg with two of the proposed VS joints was designed. The influences of the gear type, rack layout, and spring coefficient on the joint stiffness were analyzed; the spatial layout status of the joint structure was determined; the degrees of freedom and motion space of the robot leg were analyzed; and the kinematics and dynamics models of the robot leg were simulated. In addition, a stiffness matching method based on the end state under external excitation was devised. Experiments were conducted using a prototype of the robot leg. The experimental results demonstrate that a large stiffness and an appropriate speed are necessary for the optimal movement of a robot leg with VS joints, ensuring good position tracking characteristics and motion stability.</p>

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Design and analysis of a single leg robot based on variable stiffness joint

  • 期刊论文

  • 发表日期：

    2025年3月31日

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  • Hui Jin,
  • Mulin Luo,
  • Chengyi Duan,
  • Shiqing Lu,
  • Yepeng Li

摘要

To enhance the adaptability and safety of robots in human–robot interaction, a new type of variable stiffness (VS) joint was developed based on a gear and rack design, and a single robot leg with two of the proposed VS joints was designed. The influences of the gear type, rack layout, and spring coefficient on the joint stiffness were analyzed; the spatial layout status of the joint structure was determined; the degrees of freedom and motion space of the robot leg were analyzed; and the kinematics and dynamics models of the robot leg were simulated. In addition, a stiffness matching method based on the end state under external excitation was devised. Experiments were conducted using a prototype of the robot leg. The experimental results demonstrate that a large stiffness and an appropriate speed are necessary for the optimal movement of a robot leg with VS joints, ensuring good position tracking characteristics and motion stability.