DEVICE FOR GENERATING STIFFNESS AND METHOD FOR CONTROLING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME

摘要

A rigidity generator, a rigidity control method, and a joint of a robot manipulator including the same are provided to control the rigidity by controlling the location of a moveable member moving along a leaf spring. A rigidity generator comprises an axis of rotation(110), an elastic member(120), an upper disc(130), a lower disc(140), and a moveable member(150). The elastic member is fixed to the axis of rotation. The upper and the lower disc are separated based on the elastic member. The upper and the lower disc are independently driven by each power generator to the axis of rotation. The upper and the lower disc have the same number of slits(131,141) as the elastic member has. The moveable member is inserted into the slit of the lower disc and upper disc. The moveable member moves along with the moveable member.