Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle
Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle
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节能系列弹性执行器的鲁棒优化设计：在动力假肢踝中的应用
DOI：
10.1109/icorr.2019.8779446
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Gregg, Robert D.
中科院分区：
文献类型：
--
作者：
Bolivar, Edgar;Rezazadeh, Siavash;Summers, Tyler;Gregg, Robert D.
设计康复和物理辅助机器人，尽管不确定的操作条件下安全有效地工作仍然是一个重要的挑战。用于设计能量高效串联弹性致动器的当前方法使用通常假定已知操作要求的优化公式。当操作偏离标称条件时，这种方法可能导致致动器不能满足伸长、速度或扭矩要求。针对这一差距，我们提出了一个凸优化公式来设计系列弹性致动器的刚度，以尽量减少能源消耗，满足致动器的约束，尽管由于制造的弹簧，未建模的动态，传输效率的不确定性，以及运动学和动力学的负载。为了实现凸性，我们将能量消耗写为依从性的标量凸二次函数。作为致动器约束，我们考虑峰值电机转矩，峰值电机速度，由于直流电机的速度-转矩关系的限制，和弹簧的峰值伸长率。我们应用我们的配方的强大的设计一系列的弹性驱动器的动力假肢踝关节。我们的仿真结果表明，一个小的能源效率和鲁棒性之间的权衡是合理的设计致动器，可以与不确定性。
Design of rehabilitation and physical assistance robots that work safely and efficiently despite uncertain operational conditions remains an important challenge. Current methods for the design of energy efficient series elastic actuators use an optimization formulation that typically assumes known operational requirements. This approach could lead to actuators that cannot satisfy elongation, speed, or torque requirements when the operation deviates from nominal conditions. Addressing this gap, we propose a convex optimization formulation to design the stiffness of series elastic actuators to minimize energy consumption and satisfy actuator constraints despite uncertainty due to manufacturing of the spring, unmodeled dynamics, efficiency of the transmission, and the kinematics and kinetics of the load. To achieve convexity, we write energy consumption as a scalar convex-quadratic function of compliance. As actuator constraints, we consider peak motor torque, peak motor velocity, limitations due to the speed-torque relationship of DC motors, and peak elongation of the spring. We apply our formulation to the robust design of a series elastic actuator for a powered prosthetic ankle. Our simulation results indicate that a small trade-off between energy efficiency and robustness is justified to design actuators that can operate with uncertainty.
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