A Compact, Modular Series Elastic ActuatorSource: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004::page 41016Author:Cummings, Jonathan P.
,
Ruiken, Dirk
,
Wilkinson, Eric L.
,
Lanighan, Michael W.
,
Grupen, Roderic A.
,
Sup, IV ,Frank C.
DOI: 10.1115/1.4032975Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet the requirements of a wide range of applications. The concept incorporates flat brushless motors and planetary gearheads instead of expensive harmonic drives and a flat torsional spring design to create a lightweight, lowvolume, easily reconfigurable, and relatively highperformance modular SEA for use in active impedance controlled devices. The key innovations include a Hall effect sensor for direct spring displacement measurements that mitigate the negative impact of backlash on SEA control performance. Both torque and impedance controllers are developed and evaluated using a 1degreeoffreedom (DoF) prototype of the proposed actuator package. The results demonstrate the performance of a stable firstorder impedance controller tested over a range of target impedances. Finally, the flexibility of the modular SEA is demonstrated by configuring it for use in five different actuator specifications designed for use in the uBot7 mobile manipulator requiring spring stiffnesses from 3 N آ·â€‰m/deg to 11.25 N آ·â€‰m/deg and peak torque outputs from 12 N آ·â€‰m to 45 N آ·â€‰m.
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| contributor author | Cummings, Jonathan P. | |
| contributor author | Ruiken, Dirk | |
| contributor author | Wilkinson, Eric L. | |
| contributor author | Lanighan, Michael W. | |
| contributor author | Grupen, Roderic A. | |
| contributor author | Sup, IV ,Frank C. | |
| date accessioned | 2017-05-09T01:31:37Z | |
| date available | 2017-05-09T01:31:37Z | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_04_041016.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161971 | |
| description abstract | This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet the requirements of a wide range of applications. The concept incorporates flat brushless motors and planetary gearheads instead of expensive harmonic drives and a flat torsional spring design to create a lightweight, lowvolume, easily reconfigurable, and relatively highperformance modular SEA for use in active impedance controlled devices. The key innovations include a Hall effect sensor for direct spring displacement measurements that mitigate the negative impact of backlash on SEA control performance. Both torque and impedance controllers are developed and evaluated using a 1degreeoffreedom (DoF) prototype of the proposed actuator package. The results demonstrate the performance of a stable firstorder impedance controller tested over a range of target impedances. Finally, the flexibility of the modular SEA is demonstrated by configuring it for use in five different actuator specifications designed for use in the uBot7 mobile manipulator requiring spring stiffnesses from 3 N آ·â€‰m/deg to 11.25 N آ·â€‰m/deg and peak torque outputs from 12 N آ·â€‰m to 45 N آ·â€‰m. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Compact, Modular Series Elastic Actuator | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4032975 | |
| journal fristpage | 41016 | |
| journal lastpage | 41016 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004 | |
| contenttype | Fulltext |