中国工程机械学报

变刚度关节因具有优越的力学性能，在外骨骼和仿人机器人等领域具有巨大应用潜力。针对当前变刚度关节在关节紧凑性和输出能力上的不足，提出一种基于直线电机设计的小尺寸大力矩紧凑型变刚度关节。选择碟簧模块作为柔性元件，提高变刚度关节的紧凑性和模块化能力。分析适用于直线电机的变刚度原理，详述了变刚度机构和变刚度关节的结构，并开展结构强度验证。推导关节输出特性与刚度电机输出值及关节转角的关系，并给出变刚度关节力矩输出模型，通过Adams进行动力学仿真验证，结果验证了所推导模型的正确性。关节输出特性的分析结果表明，基于直线电机与蝶形弹簧设计的变刚度关节具有良好的输出性能。

Variable stiffness joints,due to their superior mechanical performance,have great potential in fields such as exoskeletons and humanoid robots. To address the current shortcomings in joint compactness and output capacity,this paper proposes a compact variable stiffness joint with high torque,designed using a linear motor. The disc spring module was selected as the flexible element to enhance the compactness and modularity of the variable stiffness joint. The principle of variable stiffness suitable for linear motors is analyzed,and the structure of the variable stiffness mechanism and joint is detailed,along with a structural strength verification. The relationship between the joint output characteristics,stiffness motor output,and joint angle is derived,and models for the joint's output torque. Dynamic simulations using Adams validate the correctness of the derived models.Analysis of the joint's output characteristics shows that the proposed variable stiffness joint,based on a linear motor and butterfly spring,offers good output performance.