Development of a Rotary Actuator Capable of Multidirectional Rapid Motion and Variable Stiffness

With the advancement of automation and digital transformation in the manufacturing industry, it is expected that industrial machines will be required to perform new tasks.Enhancing the multifunctionality of actuators is one approach to achieving these tasks.This paper proposes a new mechanism that combines two types of cams with different contour shapes, springs, two motors, and other mechanical components, and introduces an electric actuator incorporating this mechanism.The key feature of this actuator is its ability to achieve three functions (normal motion, rapid motion, and variable stiffness) while maintaining the same output characteristics, even when the initial posture of the output shaft is changed by switching the driving patterns of the two motors.