抄録
To introduce a passive complaint mechanism for robot joints is an effective way for impact absorption. However, because robots require high torque transmission, the simultaneous implementation of stiffness and softness is a significant issue. In this paper, we develop a torque transmission mechanism with passive variable stiffness that realizes from zero to extremely high stiffness using mechanical singularity. The analysis of zero stiffness and nonlinearity of the stiffness are established and the experimental evaluations are shown. The proposed mechanism is mounted on the knee joint and a four legs robot is designed.
