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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Santos, Erivelton Gualter Dos Richter, Hanz |
| Copyright Year | 2018 |
| Abstract | This paper focuses on the design, modeling and basic control of a variable stiffness actuator to be used in combination with a regenerative electromechanical drive system. Due to the use of a flexible beam, the actuator has the ability to store and return elastic potential energy. Also, an ultracapacitor is used in the electromechanical drive, which allows electrical energy storage and return. Moreover, elastic and electrostatic energies can be exchanged, resulting in a highly efficient and lightweight design which will be beneficial for robotic prostheses, exoskeletons and other orthotic devices. The paper presents a model and calculation method for large beam deflections and the integrated electromechanical actuator model. A semiactive virtual control strategy is used to decouple the mechanical dynamics from the charge dynamics and achieve position control of the actuator. Simulation results are presented to illustrate the control system and the energy exchange features. |
| Sponsorship | Dynamic Systems and Control Division |
| File Format | |
| ISBN | 9780791851906 |
| DOI | 10.1115/DSCC2018-9054 |
| Volume Number | Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems |
| Conference Proceedings | ASME 2018 Dynamic Systems and Control Conference |
| Language | English |
| Publisher Date | 2018-09-30 |
| Publisher Place | Atlanta, Georgia, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Potential energy Actuators Prostheses Computational methods Deflection Position control Exoskeleton devices Control systems Modeling Ultracapacitors Robotics Design Simulation results Dynamics (mechanics) Control modeling Stiffness Orthotics Electromechanical actuators Energy storage |
| Content Type | Text |
| Resource Type | Article |
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