A Novel Series Elastic Actuator with Variable Stiffness
A Novel Series Elastic Actuator with Variable Stiffness
复制标题
DOI：
10.1109/aim46323.2023.10196237
复制
发表时间：
2023-06
期刊：
影响因子：
--
通讯作者：
Chao Wang;Zhenhong Li;Bo Sheng;M. Sivan;Zhi-Li Zhang;Guqiang Li;Shengquan Xie
中科院分区：
文献类型：
--
作者：
Chao Wang;Zhenhong Li;Bo Sheng;M. Sivan;Zhi-Li Zhang;Guqiang Li;Shengquan Xie
最近的研究提出了各种变刚度的机器人关节执行器，以增强人与机器人的物理交互。然而，这些执行器都是基于平面动力学模型进行设计的，这限制了执行器的结构和尺寸的优化。本文提出了一种新的概念，将三维动态模型引入变刚度作动器的设计中，使变刚度作动器的设计更加紧凑。根据所提出的概念，给出了一种变速器的设计方案。基于执行器的动力学建立了输出扭矩和刚度的模型，以识别扭矩-挠度和刚度-挠度的关系。对所提出的变速器的动态特性进行了仿真分析。通过实验建立了一个原型来评估所提出的变速算法的性能。仿真结果表明，该概念为变速器的刚度变化提供了合理的依据。通过将估计的扭矩与扭矩传感器测量的扭矩进行比较，研究了该模型的扭矩估计精度。仿真结果表明，该模型能够较准确地估计出变速器的输出转矩。通过自由振动试验测试了所提出的变速器的动态特性。
Recent studies proposed various robotic joint actuators with variable stiffness to enhance the physical human-robot interaction. However, these actuators were designed on the basis of the planar dynamic models, which limited the optimization of the structure and size of the actuator. This paper proposes a novel concept of incorporating a three-dimensional dynamic model in the design of variable stiffness actuators (VSAs), enabling more compact design of VSAs. A design of VSA is presented according to the proposed concept. The output torque and stiffness are modelled based on the dynamics of the actuator to identify the torque-deflection and stiffness-deflection relations. Simulation is conducted to analyse the dynamic behaviour of the proposed VSA. A prototype is created to evaluate the performance of the proposed VSA through experiments. The simulation results indicate that the proposed concept provides a reasonable principle for stiffness variation of VSAs. The torque estimation accuracy of the model is investigated by comparing the estimated torque with the torque measured by a torque sensor. The result illustrates that the model can estimate the output torque of the proposed VSA accurately. The dynamic behaviour of the proposed VSA is tested through the free vibration test.