A 2-DOF Joint With Coupled Variable Output Stiffness.
IEEE Robotics and Automation Letters(2017)
摘要
This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low actuated inertia. Since the joint has coupled var...
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Actuators,Gears,Sun,Service robots,Bandwidth
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