NDLI: Preliminary design analysis of a novel variable impedance compact compliant actuator

Content Provider	IEEE Xplore Digital Library
Author	Haoyong Yu Rahman, S.M.M. Chi Zhu
Copyright Year	2011
Description	Author affiliation: Department of Systems Life Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Maebashi, Gunma, 371-0816, Japan (Chi Zhu) \|\| Department of Bioengineering, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576 (Haoyong Yu; Rahman, S.M.M.)
Abstract	This paper presents a novel variable impedance compact compliant series elastic actuator (SEA) design for human-friendly robotics applications. The actuator design consists of a servomotor, a ball screw, a torsional spring connecting the motor and the ball screw via a pair of spur gear, and a set of translational springs connecting the ball screw nut to the output link. The translational springs with low stiffness are used to handle the low force operation and reduce nonlinear friction, output impedance, and impact. The torsional spring, being in the high speed range, has high effective stiffness and improves the system bandwidth in large force operation when the translational springs are fully compressed. This novel design overcomes the major limitations in the existing SEA design which requires a trade-off in the selection of spring constant. The new actuator design is also more compact due to the small size translational springs. We first review the merits and the limitations of current series elastic actuators. We then explain the construction and the working principle of our new design, followed by the dynamic modeling and analysis of the actuator model. Dynamic modeling on a physical implementation of the design is presented for the three conditions: (i) open loop transfer function with load end fixed, (ii) closed loop transfer function with load end fixed, and (iii) output impedance with load end free. We then conclude the paper by discussing the advantages of the actuator design over its existing counterparts and its potential applications.
Starting Page	2553
Ending Page	2558
File Size	432673
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181689
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Actuators Force Impedance Fasteners Robots Humans Human-Friendly Robots Series Elastic Actuator Variable Impedance Open Loop System Force Control
Content Type	Text
Resource Type	Article

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