ACTUATOR INCLUDING A MECHANISM HAVING VARIABLE STIFFNESS AND A THRESHOLD TORQUE

摘要

The invention relates to an actuator including a mechanism having variable stiffness and threshold torque, of the type used in the rotary joints of robotic arms and having a stiffness that can be altered. The actuator includes a motor (1) that controls the equilibrium position of the output link (13). The mechanism contains a spring (18) and a lever (12). The stiffness of the mechanism can be altered by varying the position of the lever (12) using a motor (14). The stiffness determines the value of the rotation between the position of the pulley (2) rigidly connected to the output shaft of the motor (1) and the position of the link (13). Two tensioning elements (5) and (6) can be used to alter the pre-stressing of two cables (3) and (4) respectively, such that the mechanism only begins to operate once a certain torque value on the joint has been exceeded.