Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots-Reference-Cited by-同舟云学术

Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Published:2020-01-23 Issue:1 Volume:9 Page:6
ISSN:2076-0825
Container-title:Actuators
language:en
Short-container-title:Actuators

Author:

de Gea Fernández José^ORCID,Yu Bingbin,Bargsten Vinzenz^ORCID,Zipper Michael,Sprengel Holger

Abstract

This paper describes data-driven modelling methods and their use for the control of a novel set of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill the end-user needs for tailored industrial collaborative robot manipulators of different morphologies and payloads. Three different types of elastic actuation were investigated, namely, disc springs, coil springs and torsion bars. The developed algorithms were validated both on single actuators and on a 6-DOF robotic arm composed of such actuators.

Funder

Horizon 2020 Framework Programme

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

Link

https://www.mdpi.com/2076-0825/9/1/6/pdf

Reference35 articles.

1. Industrie 4.0: Mit dem Internet der Dinge auf dem Weg zur 4. Industriellen Revolutionhttp://www.vdi-nachrichten.com/Technik-Gesellschaft/Industrie-40-Mit-Internet-Dinge-Weg-4-industriellen-Revolution

2. CR-35iA Collaborative Robot from Fanuchttp://www.fanuc.eu/pt/en/robots/robot-filter-page/collaborative-cr35ia

3. Motoman HC10 Collaborative Robot from Yaskawahttps://www.yaskawa.eu.com/en/news-events/news/article/news/motoman-hc10-collaborative-robot-safe-and-flexible-interaction/

4. AURA Collaborative Robot from COMAUhttp://www.comau.com/EN/media/news/2016/06/comau-at-automatica-2016

5. KUKA LBR iiwawww.kuka-lbr-iiwa.com

Cited by 14 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. A novel design of series elastic actuator using tensile springs array;Mechanism and Machine Theory;2024-02

2. The model and design of a Spring-Embedded Planetary Dual-Motor Actuator to reduce energy losses;Mechanism and Machine Theory;2023-12

3. Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios;IEEE Access;2023

4. Design and Analysis of a Novel Compliant Actuator With Variable Stiffness by Spring Pretension Adjustment;IEEE Access;2023

5. A Torque-Controlled Actuator With High Rigidity and Low Aspect Ratio;IEEE/ASME Transactions on Mechatronics;2022-12