Wrench Capability of a Stewart Platform With Series Elastic Actuators-Reference-Cited by-同舟云学术

Wrench Capability of a Stewart Platform With Series Elastic Actuators

Published:2018-01-29 Issue:2 Volume:10 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Ophaswongse Chawin¹,Murray Rosemarie C.¹,Agrawal Sunil K.²

Affiliation:

1. Robotics and Rehabilitation Laboratory (ROAR Lab), Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Building, 500 West 120th Street, New York, NY 10027 e-mail:

2. Professor Fellow ASME Robotics and Rehabilitation Laboratory (ROAR Lab), Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Building, 500 West 120th Street, New York, NY 10027 e-mail:

Abstract

This paper proposes a novel method for analyzing linear series elastic actuators (SEAs) in a parallel-actuated Stewart platform, which has full six degrees-of-freedom (DOF) in position and orientation. SEAs can potentially provide a better human–machine interface for the user. However, in the study of parallel-actuated systems with full 6DOF, the effect of compliance in series with actuators has not been adequately studied from the perspective of wrench capabilities. We found that some parameters of the springs and the stroke lengths of the linear actuators play a major role in the actuation limits of the system. This is an important consideration when adding SEAs into a Stewart platform or other parallel-actuated robots to improve their human usage.

Funder

National Science Foundation

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4038976/6375023/jmr_010_02_021002.pdf

Reference17 articles.

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2. Series Elastic Actuators for High Fidelity Force Control;Ind. Robot,2002

3. Robinson, D. W., 2000, “Design and Analysis of Series Elasticity in Closed-Loop Actuator Force Control,” Ph.D. thesis, Massachusetts Institute of Technology, Cambridge, MA, p. 123.https://dspace.mit.edu/handle/1721.1/54838

4. Park, J.-H., Stegall, P., and Agrawal, S. K., 2015, “Dynamic Brace for Correction of Abnormal Postures of the Human Spine,” IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 26–30, pp. 5922–5927.10.1109/ICRA.2015.7140029

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