Comparison of Mechanical Design and Energy Consumption of Adaptable, Passive-compliant Actuators-Reference-Cited by-同舟云学术

Comparison of Mechanical Design and Energy Consumption of Adaptable, Passive-compliant Actuators

Published:2009-01 Issue:1 Volume:28 Page:90-103
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Vanderborght Bram¹,Van Ham Ronald²,Lefeber Dirk²,Sugar Thomas G.³,Hollander Kevin W.⁴

Affiliation:

1. Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussel, Belgium , Italian Institute of Technology, Robotics, Brain and Cognitive Sciences Department, Via Morego 30, 16163 Genova, Italy

2. Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussel, Belgium

3. Arizona State University, Department of Mechanical and Aerospace Engineering, Tempe, Arizona 85287-6106, USA,

4. Arizona State University, Department of Mechanical and Aerospace Engineering, Tempe, Arizona 85287-6106, USA

Abstract

Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364908095333

Reference31 articles.

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