Simulation research and experimental verification of a variable stiffness actuator with automatic rigidity/compliance switching

Flexible driving with variable stiffness is very significant in improving the safety of robot. This paper makes simulation analysis and experimental verification for variable stiffness actuator. The closed-loop servo control system based on Trio motion controller on the basis of analyzing the structure and motion of variable stiffness actuator with automatic rigidity/compliance switching was designed, the experiments on the control platform which has been set up were performed. The simulation model of variable stiffness actuator with automatic rigidity/compliance switching was established. The simulation for the key parameters was analyzed and an optimization solution for spring compression was proposed. The experimental platform was set up to make the test of rigidity/compliance switching, stiffness characteristic and collision. Results showed that the rigidity/compliance switching function of the variable stiffness actuator is reliable, the stiffness characteristics are consistent with the theoretical data, the actuator can effectively weaken the impact force in the collision.