On the Electrical Energy Consumption of Active Ankle Prostheses with Series and Parallel Elastic Elements
On the Electrical Energy Consumption of Active Ankle Prostheses with Series and Parallel Elastic Elements
复制标题
串并联弹性元件主动踝假肢的电能消耗研究
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
D. Lefeber
中科院分区：
文献类型：
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作者：
T. Verstraten;L. Flynn;J. Geeroms;B. Vanderborght;D. Lefeber
通过串联和并联弹性元件，可以显著降低主动踝关节假体的机械峰值功率和能量消耗。然而，很少有工程，评估这些设备的电能消耗。在这项工作中，我们分析和讨论这些致动器的机械和电能消耗之间的差异。比较了串联弹性作动器、并联弹性作动器和带单向弹簧的串联弹性作动器的机电能耗优化设计方法。然后通过转矩角图、功率流图和电机效率图对结果进行分析。分析突出了动力传动系统的惯性对系统的峰值功率和能源效率的影响。此外，串联弹簧和单向平行弹簧之间的相互作用被确定为致动器带宽减小的潜在原因。并联弹性致动器被认为是最紧凑和节能的解决方案，因为它使最有效地利用电动机。
With series and parallel elastic elements, considerable reductions in the mechanical peak power and energy consumption of active ankle prostheses can be obtained. Very few works, however, evaluate the electrical energy consumption of these devices. In this work, we analyze and discuss the differences between the mechanical and electrical energy consumption of these actuators. Design optimizations based on mechanical and electrical energy consumption are compared for a series elastic actuator, parallel elastic actuator and series elastic actuator with unidirectional spring. The results are then analyzed by means of torque-angle plots, power flow graphs and motor efficiency maps. The analysis highlights the impact of drivetrain inertia on the peak power and energy efficiency of the system. Moreover, interaction between the series spring and unidirectional parallel spring is identified as a potential cause of reduced actuator bandwidth. A parallel elastic actuator is found to be the most compact and energy-efficient solution overall as it makes the most efficient use of the electric motor.