Performance Analysis of Series Elastic Actuator Based on Maximum Torque Transmissibility

Series elastic actuators (SEAs) have had sound contributions in the robotics field, and significant breakthroughs been achieved. Despite this fact, there are still drawbacks to their performance. The spring, which provides compliance, limits SEA’s performance by lowering bandwidth of force/torque generation, decreases even further when SEA has render large torques. This problem originates from constraints motor driver, such as torque velocity limits. In brief, mathematical tools analyze how these limitations influence force control proposed. To end, a novel criterion called maximum transmissibility (MTT) is defined assess ability fully utilizing dynamics, continuous torque, permissible servo motor. Further, based on MTT, new concept that can indicate frequency limit generate Various design parameters, including load condition mechanical controller parameters SEA, evaluated. Experimental results verify MTT limitation precisely.