Design of a Modular Series Elastic Upgrade to a Robotics Actuator
نویسندگان
چکیده
In this article we present a compact and modular device designed to allow a conventional stiff servo actuator to be easily upgraded into a series elastic actuator (SEA). This is a low cost, open source and open hardware solution including mechanical CAD drawings, circuit schematics, board designs and firmware code. We present a complete overview of the project as well as a case study where we show the device being employed as an upgrade to add compliance to the knee joints of an existing humanoid robot design.
منابع مشابه
Optimal Robust Control for a Series Elastic Actuator assisting Knee Joint
Rehabilitation and assistive systems such as rotary series elastic actuators (RSEA) should provide the desired torque precisely. In this paper, to improve the life quality of those who suffer from weak knees, the control problem of a rotary series elastic actuator (RSEA) has been studied in order to generate soft human walking motion. These actuators produce the require torque, but the nonlinea...
متن کاملA Compact, Modular Series Elastic Actuator
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, lowvolume, easily reconfigurable, and relative...
متن کاملIEEE ROBIO 2012 Conference Paper
Compliant Actuators are desirable for human friendly robotics, especially for assistive and rehabilitation robots that have direct physical interaction with human users. Various designs of Series Elastic Actuators (SEA) have been developed for these applications. This paper presents a novel SEA design with variable impedance for human-friendly robotics applications that overcomes the major limi...
متن کاملA Compact Series Elastic Actuator for Bipedal Robots with Human-Like Dynamic Performance
Series-elastic actuation offers several important benefits to dynamic robots, including high-bandwidth force control and improved safety. While this approach has become common among legged robots, the lack of commercial series-elastic actuators and the unique design requirements of these robots leaves custom-built actuators as the only option. These custom actuators are often designed for nomin...
متن کاملDesign and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis
A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expen...
متن کامل