Design and Analysis of a Maglev Variable Stiffness Joints for A Wide Range of Stiffness and Angle Changes

To address the current issues of traditional variable stiffness joints, such as limited motion range, large overall dimensions, and significant energy loss, this paper proposes a novel maglev variable stiffness joint that further enhances the safety and energy efficiency of human-robot interaction. This joint combines the trigonometric relationships within a triangular structure and the exponential growth trend of the repulsive force of magnetic materials, better simulating the nonlinear characteristics of the human elbow joint to achieve a wide range of stiffness and angle variations. At the same time, a static and dynamic analysis of the maglev variable stiffness joint is conducted. A static model is established through geometric and mechanical analysis, and a dynamic model is built based on Lagrange’s equations and the principle of virtual work, resolving the complexity issues in modeling and control of traditional variable stiffness joints and providing a new method for the control of flexible robotic arm joints.