Conceptual design, modeling and control of a rigid parallel serial-elastic actuator
Conceptual design, modeling and control of a rigid parallel serial-elastic actuator
复制标题
刚性并联串弹性执行器的概念设计、建模和控制
DOI：
10.1515/auto-2020-0008
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
C. Ngo
中科院分区：
文献类型：
--
作者：
B. Penzlin;Anja Leipnitz;L. Bergmann;Yinbo Li;Linhong Ji;S. Leonhardt;C. Ngo
摘要并联弹性执行器(PEA)可以提供效率优势。在目前的设计中，离合器可以固定或释放弹性的中性位置。该执行器将直接执行器与串联弹性执行器(SEA)相结合。除了PEA的效率优势外，两个执行器还可以主动协作或主动控制弹性的中性位置。在试验台上，样机在步态过程中以与臀部相似的载荷操作，从而发现峰值功率减少了19% %。此外，在类似于坐姿到站姿的任务中，SEA可以支持31 %的扭矩。
Abstract Parallel-elastic actuators (PEA) can provide efficiency advantages. In current designs clutches can fix or release the neutral position of the elasticity. The presented actuator combines a direct actuator with a serial-elastic actuator (SEA) in parallel. In addition to the efficiency advantages of a PEA, both actuators can also actively cooperate or actively control the neutral position of the elasticity. On the test bench, the prototype is operated as a PEA with a load similar to the hip during gait, whereby a reduction in peak power of 19 % is found. Furthermore the SEA can support 31 % of the torque during a task similar to sit-to-stand.