可重构变刚度柔性驱动器的设计与性能分析

段韦婕,秦慧斌,刘荣,李中一,白绍平

Design and performance analysis of reconfigurable variable stiffness compliant actuator

Weijie DUAN,Huibin QIN,Rong LIU,Zhongyi LI,Shaoping BAI

图9 变刚度柔性驱动器的动力学模型

Fig.9 Dynamics model of variable stiffness compliant actuator