A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots
A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots
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用于仿生机器人的弹簧辅助二维机电脊柱架构
DOI：
10.1109/iros40897.2019.8967757
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
A. Banerjee
中科院分区：
文献类型：
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作者：
Bonhyun Ku;Sunyu Wang;A. Banerjee
本文提出了一种分布式六连杆二维机电致动器，模拟生物脊柱。无齿轮致动器是由E形芯沿着与集成弹簧堆叠模块制成的。线圈励磁在铁芯中感应磁通量，这在两个相邻铁芯之间的气隙中产生机电力。建议的致动器是由直流-直流转换器与电流控制驱动。机电力分析与不同的气隙距离和弹簧分析，提高致动器的性能的建议脊柱架构进行了讨论。实验结果表明，不同的生物运动与原型设计。该样机可以产生1.4 N-m的最大扭矩。
This paper presents a distributed six-link two-dimensional electromechanical actuator that emulates a biological spine. The gearless actuator is made by stacking modules of E-shaped cores along with integrated springs. A coil excitation induces magnetic flux in the core, which produces electromechanical force in the air gap between two adjacent cores. The proposed actuator is driven by dc-dc converters with current control. Electromechanical force analysis for the proposed spine architecture with different air-gap distances and spring analysis that improve the actuator’s performance are discussed. Experimental results show different biological motions with a prototype design. The prototype can produce a maximum torque of 1.4 N-m.