Design of Variable Stiffness Joint of Manipulator
International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023)（2024）
China Academy of Space Technology
Abstract
In the process of on orbit capture, there is a large contact and impact between the manipulator and the target. The flexibility of variable stiffness joints can effectively reduce the collision force and improve the capture reliability. In this paper, a design method of variable stiffness modular manipulator joint with large stiffness variation range is proposed, the mechanism design and variable stiffness principle of variable stiffness joint are described, and the ability of stiffness variation in large range is verified through experiments.
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