Archive for Декабрь, 2009

Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots

Дата: Декабрь 1st, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6202
  • Название документа: Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots
  • Номер (DOI, IBSN, Патент): 2151-9617
  • Изобретатель/автор: Ponselvan.V, Muthuraman.S, Arumugom.S
  • Правопреемник/учебное заведение: Не заполнено
  • Дата публикации документа: 2009-12-01
  • Страна опубликовавшая документ: Не заполнено
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: JOURNAL OF COMPUTING,
  • Вложения: Да
  • Аналитик: Глаголева Елена

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 placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke’s Law (F=Kx). A control loop then servos the ac-tuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low
impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance am-plification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Actuators that have been developed using both electric and hydraulic components.

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