Mechanical Design Procedures for Series Elastic Actuators
نویسندگان
چکیده
منابع مشابه
Series Elastic Actuators for legged robots
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of “stiffer is better”. A compliant element is pl...
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Variable compliance has been a growing topic of interest in legged robotics due to recent studies showing that animals adjust their leg and joint stiffness to adjust their natural dynamics and to accommodate changes in their environment. However, existing designs add significant weight, size, and complexity. Series Elastic Actuators, on the other hand, are designed with a set stiffness usually ...
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Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...
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Force controlled series elastic actuators (SEA’s) are widely used components of novel physical human-robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based...
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The Series Elasic Actuator has been proposed as a method for providing safe force or torque based acutation for robots that interact with humans. In this paper we look at some outstanding issues in the implementaion and control of Series Elastic Actuators. The study addresses issues in making the Series Elastic Actuator respond effectively in the presence of physical difficulties such as sticti...
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ژورنال
عنوان ژورنال: Pamukkale University Journal of Engineering Sciences
سال: 2019
ISSN: 1300-7009,2147-5881
DOI: 10.5505/pajes.2018.01700