Variable Recruitment of Parallel Elastic Elements: Series–Parallel Elastic Actuators (SPEA) With Dephased Mutilated Gears
نویسندگان
چکیده
منابع مشابه
MACCEPA-based Series-Parallel Elastic Actuators (SPEA) for the next generation of robotic co-workers
Robots are still outperforming humans regarding their efficiency and dexterity. On the other hand, however, muscles are more efficient and have a higher power to weight ratio than electric motors. As a consequence, among others, manipulators for human robot interaction in industry or service applications have a low payload to weight ratio and a low energy efficiency. Therefore, we developed a n...
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Traditional stiff actuators have a high reflected inertia, which do not meet the safety requirements, are bad to absorb shocks and cannot store and release energy which are for different applications required. Initiated by the introduction of the Series Elastic Actuator (SEA) by Gill A. Pratt in 1995, a wide range of Variable Impedance Actuators (VIA) are developed, for which inspiration was fo...
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Force controlled series elastic actuators (SEA’s) are widely used components of novel physical human-robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based...
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Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of “stiffer is better”. A compliant element is pl...
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ژورنال
عنوان ژورنال: IEEE/ASME Transactions on Mechatronics
سال: 2015
ISSN: 1083-4435,1941-014X
DOI: 10.1109/tmech.2014.2307122