The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles
The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles
复制标题
eLeg：一种新型高效腿部原型，采用可调节并行合规驱动原理
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
N. Tsagarakis
中科院分区：
文献类型：
--
作者：
Zeyu Ren;W. Roozing;N. Tsagarakis
本文介绍了一种高效机器人腿原型的设计和实现细节，该原型将串联弹性驱动与可调并联柔度相结合，显著提高了机器人腿的能效。并联作动单元由二次电机驱动，以调节并联弹性的预紧力。单关节和双关节驱动配置都可以使用，因此腿的设计允许快速重新配置其驱动单元，以便进行验证研究和不同驱动配置的能量比较。重点介绍了可调并联驱动单元的设计过程和实现，包括弹性元件的选择、机构设计和力传感能力。提出了一种利用该概念的机器人设计方法，并提供了实验数据，证明了驱动概念和设计过程的有效性。
This paper presents the design and implementation details of an efficient robotic leg (eLeg) prototype in which series-elastic actuation is combined with adjustable parallel compliance to significantly improve its energy efficiency. The parallel actuation units are driven by secondary motors to adjust pretension of the parallel elasticity. Both monoarticulated and biarticulated actuation configurations can be employed and the leg was thus designed to permit rapid reconfiguration of its actuation units for the purpose of performing validation studies and energetic comparison of the different actuation configurations. We focus on the design procedure and implementation of the adjustable parallel actuation units, including elastic element selection, mechanism design, and force sensing capability. A design method for robots utilising the concept is presented and experimental data are provided, that demonstrate the effectiveness of both the actuation concepts and design procedure.