关键词: 柔性关节, 主动变刚度, 被动变刚度, 柔性单腿, 仿生学

Abstract: To promote the high energy consumption of traditional rigid foot robot movement,the relationship between stiffness and energy efficiency was summarized with bionics,and a mathematical model of series connected flexible single leg with active and passive variable stiffness was established,which described the reducer,flexible joint damping and power flow in detail.The key parameters of single leg model were selected and combined with the bionics to design the passive variable stiffness of joint's three section line.The ground and joint collision simulation was made through Hertz model,which verified the better stability of flexible single leg with passive variable stiffness by comparing to flexible single leg with active variable stiffness.Based on the simulation of two processes that were jumping in place and horizontal motion in support phase,the variation law between stiffness and energy consumption under different conditions was obtained.The active and passive variable stiffness flexible joint and the single leg prototype based on this joint were developed,and the experiment by combining with NI-cRIO system showed that the energy consumption of legged robot under different motion conditions could be optimized by adjusting the stiffness coefficient properly,which agreeed with the bionics study.

Key words: flexible joint, active variable stiffness, passive variable stiffness, flexible single leg, bionics