中文摘要：

为了实现腿式奔跑、跳跃机器人在高速运动中的变速无源运动和提高机器人运动能效性，提出了一种可调刚度弹性被动机器人旋转式关节设计方案．关节采用平面非接触涡卷弹簧作为弹性元件，由小功率伺服电机驱动支撑杆调节平面非接触涡卷弹簧的有效工作长度，最终实现改变关节的旋转刚度．对平面非接触涡卷弹簧进行了有限元弹性大变形仿真分析，并制造出实验样机．试验表明：所设计的可调刚度弹性被动机器人关节性能良好．

英文摘要：

In order to achieve variable-speed, passive movement and improve the efficiency of robot with leg-running, and leg-jumping in the high-speed movement, adjustable passive stiffness of elastic robotic rotary joints are designed in this paper, by applying non-contact flat spiral spring as the elastic element. The effective working length of spring is adjusted by servo motor driver support bar, by which the change of rotating joint stiffness is realized. Besides, large elastic deformation of the spring is analyzed by Ansys software. The result shows that the design brings about good per- formance of adjustable stiffness elastic passive robot ioints.