Compact torsion spring for exoskeleton robot, structure optimization method and verification method

The invention relates to a compact torsion spring for an exoskeleton robot, a structure optimization method and a verification method, the compact torsion spring comprises an outer ring, a limiting beam, an elastic beam, an inner ring and a threaded connection hole, the outer ring is connected with a wire spool, and the inner ring is connected with the output end of a speed reducer. According to the structure optimization method, the torsional spring is designed on the basis of a 6U-shaped structure in a three-elastic-unit topological mechanism, the overall mass, the maximum stress and the maximum deformation serve as optimization targets, optimization design is conducted on the size of the torsional spring through a finite element iteration method, and simulation analysis is conducted on the rigidity characteristic of the torsional spring. The verification method comprises the following steps: firstly, building a test platform for torsion spring performance test, performing experimental verification on rigid