This paper presents a new design and modeling of a novel variable stiffness scotch yoke series elastic actuator (VSY-SEA) mechanism that can achieve variable stiffness values with a linear relationship between torque and displacement. The main goal of this study was to design the yoke’s shape in the scotch yoke mechanism for a system with the desired stiffness. The word “variable” in VSY-SEA does not simply mean that the system has different random stiffness, but rather that the system has the stiffness of the functional form desired by the designer. Yoke shapes in the scotch-yoke mechanism were designed by calculating the relationship between external torque and rotation angle of VSY-SEA, and the simulations were performed using CAD models with various yoke designs. A prototype of the model was built and the calculations were verified through experiments.

本文介绍了一种新型设计和建模，该新型设计和建模是一种新型可变刚度苏格兰轭系列弹性致动器（VSY-SEA）机构，该机构可以实现可变刚度值，并且扭矩和位移之间具有线性关系。这项研究的主要目的是为具有所需刚度的系统设计苏格兰轭机构中的轭形状。VSY-SEA中的“可变”一词不仅意味着系统具有不同的随机刚度，而且还意味着系统具有设计人员所需的功能形式的刚度。通过计算VSY-SEA的外部扭矩和旋转角度之间的关系，设计了苏格兰轭架机构中的轭架形状，并使用具有各种轭架设计的CAD模型进行了仿真。