A Compact, Modular Series Elastic Actuator
Author:
Cummings Jonathan P.1, Ruiken Dirk2, Wilkinson Eric L.2, Lanighan Michael W.2, Grupen Roderic A.2, Sup Frank C.1
Affiliation:
1. Department of Mechanical and Industrial Engineering, University of Massachusetts Amherst, 160 Governors Drive, Amherst, MA 01003 e-mail: 2. College of Information and Computer Sciences, University of Massachusetts Amherst, 140 Governors Drive, Amherst, MA 01003 e-mail:
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, low-volume, easily reconfigurable, and relatively high-performance 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 1-degree-of-freedom (DoF) prototype of the proposed actuator package. The results demonstrate the performance of a stable first-order 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 uBot-7 mobile manipulator requiring spring stiffnesses from 3 N · m/deg to 11.25 N · m/deg and peak torque outputs from 12 N · m to 45 N · m.
Publisher
ASME International
Subject
Mechanical Engineering
Reference30 articles.
1. Series Elastic Actuators;IEEE/RSJ Int. Conf. Intell. Robot. Syst.,1995 2. Diftler, M. A., Mehling, J. S., Abdallah, M. E., Radford, N. A., Bridgwater, L. B., Sanders, A. M., Askew, R. S., Linn, D. M., Yamokoski, J. D., Permenter, F. A., Hargrave, B. K., Platt, R., Savely, R. T., and Ambrose, R. O., 2011, “Robonaut 2: The First Humanoid Robot in Space,” IEEE International Conference on Robotics and Automation, Shanghai, China, May 9–13, pp. 2178–2183. 3. Tsagarakis, N. G., Saglia, J., and Caldwell, D. G., 2011, “The Design of the Lower Body of the Compliant Humanoid Robot ‘cCub’,” IEEEInternational Conference on Robotics and Automation, Shanghai, China, May 9–13, pp. 2035–2040.10.1109/ICRA.2011.5980130 4. Tsagarakis, N. G., Morfey, S., Medrano Cerda, G., Zhibin, L., and Caldwell, D. G., 2013, “Compliant Humanoid Coman: Optimal Joint Stiffness Tuning for Modal Frequency Control,” IEEEInternational Conference on Robotics and Automation, Karlsruhe, Germany, May 6–10, pp. 673–678.10.1109/ICRA.2013.6630645 5. Tsagarakis, N. G., Laffranchi, M., Vanderborght, B., and Caldwell, D. G., 2009, “A Compact Soft Actuator Unit for Small Scale Human Friendly Robots,” IEEEInternational Conference on Robotics and Automation, Kobe, Japan, May 12–17, pp. 4356–4362.10.1109/ROBOT.2009.5152496
Cited by
25 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
|
|