Series and Parallel Elastic Actuation: Impact of natural dynamics on power and energy consumption
Series and Parallel Elastic Actuation: Impact of natural dynamics on power and energy consumption
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DOI：
10.1016/j.mechmachtheory.2016.04.004
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发表时间：
2016-08
影响因子：
5.2
通讯作者：
T. Verstraten;P. Beckerle;R. Furnemont;G. Mathijssen;B. Vanderborght;D. Lefeber
中科院分区：
文献类型：
--
作者：
T. Verstraten;P. Beckerle;R. Furnemont;G. Mathijssen;B. Vanderborght;D. Lefeber
本文详细分析了串联弹性执行器(SEA)和并联弹性执行器(PEAS)的功率和机电能耗。这项研究是通过对摆负载施加正弦运动来完成的，这样自然动力学就会自动地出现在功率和能量消耗中。这允许将执行器的动力学与其损耗机制联系起来，揭示了执行器设计中串联和并联弹性元件的有趣特征。仿真结果表明，只要适当调节弹性元件的刚度，SEA和PEA都可以降低峰值功率和能量消耗。对于SEA，通过将弹性元件调谐到致动器的反共振频率来最小化两者。对于PEA，在连杆的共振频率处峰值功率最小，但最小电能消耗的最佳刚度不能通过理论共振来确定，需要使用完整的系统模型来计算。如果遵循这些准则，这两种类型的弹性致动器都可以在高频下提供显著的能量效益。实验证实了这一点，实验表明，与刚性执行器相比，能量降低高达78%(SEA)和20%(PEA)。
This paper provides a detailed analysis of the power and mechanical/electrical energy consumption of Series Elastic Actuators (SEAs) and Parallel Elastic Actuators (PEAs). The study is done by imposing a sinusoidal motion to a pendulum load, such that the natural dynamics automatically present itself in the power and energy consumption. This allows to link the actuators' dynamics to their loss mechanisms, revealing interesting characteristics of series and parallel elastic elements in actuator designs. Simulations demonstrate that the SEA and PEA allow to decrease both peak power and energy consumption, provided that the stiffness of their elastic element is tuned properly. For the SEA, both are minimized by tuning the elastic element to the antiresonance frequency of the actuator. For the PEA, peak power is minimal at the link's resonance frequency, but the optimal stiffness for minimal electrical energy consumption cannot be determined by a theoretical resonance and needs to be calculated using a complete system model. If these guidelines are followed, both types of elastic actuators can provide significant energetic benefits at high frequencies. This was confirmed by experiments, which demonstrated energy reductions of up to 78% (SEA) and 20% (PEA) compared to rigid actuators.