VARIABLE STIFFNESS ACTUATOR

摘要

The present invention provides a variable stiffness actuator. The variable stiffness actuator includes: a first motor unit; a support frame unit supporting one end of the first motor unit; a first rotation frame unit installed on the inner side of the support frame unit in order for one end to be connected to the support frame unit to be able to rotate and rotating at one end of the support frame unit; a second motor unit installed on the inner side of the first rotation frame unit to cross the first motor unit; a first support end supporting the second motor unit by being installed in the first rotation frame unit; a connection shaft connecting the first rotation frame unit to the support frame unit to be able to rotate and connecting the first support end to the support frame unit not to rotate; and a first stiffness displacement unit measuring rotation displacement in which the first rotation frame unit rotates in the second motor unit around the rotation shaft since an external force is applied to the other end of the first rotation frame unit. Therefore, the variable stiffness actuator is proper for each field where safety should be considered, by measuring a stiffness increase rate according to a separated distance of the connection shaft or a hinge shaft from an elastic member of the stiffness displacement unit.