Design of A Variable Stiffness Actuator and Study on Its Variable Stiffness Characteristics
Bibliographic record
Abstract
In this paper, the structural design of a variable stiffness actuator (VSA) is proposed, and the variable stiffness characteristics of the VSA are studied. The VSA is compact and can be used for humanoid robots. Firstly, the structure of the VSA is designed. Then the stiffness model of the structure is derived in theory and the dynamic simulation is performed in ADAMS. The stiffness results of dynamic simulation and theoretical calculation are highly consistent, which verified the correctness of each other. Finally, the influence of the curve equation of the worm gear disc on the stiffness of the system is studied: the radius of the curve is a function of the angle, and when the order of the curve equation is higher, the stiffness adjustment range of the system is wider. Under the premise of meeting the same stiffness requirements, when the order of the curve equation increases, the radius of the higher-order curve equation is only half of that of the lower-order curve equation, and a more compact VSA can be obtained. The results are of great significance to the prototype design, that is, without changing the main design dimensions of each component, the stiffness of the system can reach the design value simply by changing the order of the curve equation.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".