Parallel Variable Stiffness Actuators
Parallel Variable Stiffness Actuators
复制标题
并行可变刚度执行器
DOI：
10.1109/iros51168.2021.9636249
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
D. Braun
中科院分区：
文献类型：
--
作者：
Chase W. Mathews;D. Braun
在本文中，我们介绍了一种新型的柔性驱动器命名为并联变刚度驱动器（PVSA），它由一个可变刚度弹簧平行放置的直接驱动电机。并联可变刚度致动器提供（i）高保真力控制和（ii）可控能量存储，因为它们继承了直接驱动电机和可变刚度弹簧的优点。我们提出了一个紧凑的设计的PVSA使用一个平面电机连接到一个可调的机械效益扭转弹簧。我们表明，这种PVSA是（1）不受串联弹性和可变刚度致动器的基本力控制带宽限制，最值得注意的是，（2）尽管弹簧的变形有限，负载的约束运动连接到致动器，使谐振能量积累。后者将并联变刚度致动器与固定刚度并联弹性致动器区分开来。PVSA可以与较小的直接驱动电机一起使用，以匹配较大电机的峰值功率，而不会影响力控制保真度。PVSA可用于在步行、跳跃、跑步、游泳机器人或用于在上述任务中增强人类运动的机器人外骨骼中在关节角度限制下实现共振施力。
In this paper, we introduce a new type of compliant actuator named the Parallel Variable Stiffness Actuator (PVSA) which consists of a variable stiffness spring placed in parallel with a direct-drive motor. Parallel variable stiffness actuators provide (i) high-fidelity force control and (ii) controllable energy storage, as they inherit the benefits of direct-drive motors and variable stiffness springs. We present a compact design of the PVSA using a flat motor connected to an adjustable mechanical advantage torsional spring. We show that this PVSA is (1) not subject to the fundamental force control bandwidth limitation of series elastic and variable stiffness actuators, and most notably, (2) enables resonant energy accumulation despite the limited deformation of the spring and the constrained motion of the load attached to the actuator. The latter differentiates parallel variable stiffness actuators from fixed-stiffness parallel elastic actuators. PVSAs may be used with smaller direct-drive motors to match the peak power of larger motors without compromising force control fidelity. PVSAs may be used to implement resonant forcing under joint angle limitations in walking, jumping, running, swimming robots, or robotic exoskeletons used to augmented human motion in the aforementioned tasks.
影响因子：
7.8
作者：
Braun, David J.;Chalvet, Vincent;Hogan, Neville
通讯作者：
Hogan, Neville