Variable stiffness driver based on inverse proportional function curve optimization

The invention relates to the technical field of cooperative mechanical arms, in particular to a variable stiffness driver based on inverse proportional function curve optimization. Comprising a shell, an output end cover, a variable stiffness assembly and a lead screw power assembly, and the variable stiffness assembly is arranged in the shell and can move in the axial direction; the lead screw power assembly is arranged on the shell and connected with the variable stiffness assembly, and the lead screw power assembly provides driving force for stiffness changes of the variable stiffness assembly. The output end cover is arranged at the top of the shell and rotationally connected with the shell and the lead screw power assembly, and the output end cover is in extrusion fit with the variable stiffness assembly. According to the invention, the moving speed of the variable stiffness assembly can be optimized, so that the relation curve between the stiffness and the position of the roller is smooth, the rapid ris