Design of variable stiffness actuator based on modified gear-rack mechanism

Wei Wang, Xiaoyue Fu, Yangmin Li, Chao Yun

Research output: Journal article publicationJournal articleAcademic researchpeer-review

26 Citations (Scopus)


Variable stiffness actuators (VSAs) can improve the robot's performance during interactions with human and uncertain environments. Based on the modified gear-rack mechanism, a VSA with a third-power stiffness profile is designed. The proposed mechanism, used to vary the joint stiffness, is placed between the output end and the joint speed reducer. Both the elastic element and the regulating mechanism are combined into the modified gear-rack (MGR), which is modeled as an elastic beam clamped at the middle position. Two pairs of spur gears are engaged with the rack and considered as the variable acting positions of supporting forces. The joint stiffness is inversely proportional to the third power of the gear displacement, independent from the joint position and the joint deflection angle. The gear displacement is perpendicular to the loading torque, so the power consumed by the stiffness-regulating action is low (14.4 W). The working principle and the mechanics model are illustrated, and then, the mechanical design is presented. The validity of the VSA is proved by simulations and experiments.
Original languageEnglish
Article number061008
JournalJournal of Mechanisms and Robotics
Issue number6
Publication statusPublished - 1 Dec 2016
Externally publishedYes


  • Modified gear-rack
  • Robot
  • Stiffness regulation
  • Variable stiffness

ASJC Scopus subject areas

  • Mechanical Engineering


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