Roboseum
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  • Roboseum
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              • mapping
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  • Actuators
    • Floating Spring Joint
    • A Detailed Look into SEA(Serial Elastic Actuator)
    • MIT Optimal Actuator Design
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  • 变刚度原理
  • 拓展

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  1. Actuators

Floating Spring Joint

PreviousActuatorsNextA Detailed Look into SEA(Serial Elastic Actuator)

Last updated 6 years ago

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tag: DRL VSJ

Fig1. FSJ外观

Fig2. FSJ半剖图

FSJ最大的亮点是一个关节带有两个自由度，一个自由度用于控制位置，另一个自由度用于控制刚度。但是，由于机械构造的原因，刚度与第二个自由度的电机轴输出为非线性关系，而且，两个自由度之间存在一定的耦合，这给控制和建模带来了难度。

变刚度原理

拓展

[1] The DLR FSJ: Energy based design of a variable stiffness joint, S. Wolf, et al. ICRA 2011.

FSJ1
FSJ2
FSJ3
FSJ4