Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Fernández, José de Gea; Yu, Bingbin; Bargsten, Vinzenz; Zipper, Michael; Sprengel, Holger

doi:10.3390/act9010006

Cited by 16 publications

(11 citation statements)

References 20 publications

(25 reference statements)

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“…It was chosen since it is both small enough and more than powerful enough to drive the constant torque spring. On the output of this unit, another electromagnetic clutch is placed (9), namely, the Electromagnetic Clutch Shaft 2.83 Nm, M.0113.2411 from Warner Electric Europe. This one is slightly different than the previous one, since it is made to couple or decouple parallel axes, which is necessary in this case, as we want to be able to decouple the spring from the output axis.…”

Section: Constant Torque Unit With High-speed Motormentioning

confidence: 99%

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Novel SPECTA Actuator to Improve Energy Recuperation and Efficiency

et al. 2022

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The current state of the art in compliant actuation has already good performance, but this is still insufficient to provide a decent autonomy for the next generation of robots. In this paper, a next step is taken to improve the efficiency of actuators by tackling and enhancing the Series-Parallel Elastic Constant Torque Actuation (SPECTA) concept, which has previously been analyzed in simulations. In this work, the efficiency is increased further by decoupling the springs and their driving parts through the use of locking mechanisms, such that the motors are not always loaded and the springs can easily store energy from both input or output. Simulations have been performed to confirm this and they also showed that, in the SPECTA concept, it is always better to use high-speed motors instead of high-torque motors, even with non-efficient gearing. In this paper, the SPECTA concept is also validated experimentally with the use of a newly built test setup. In light of the obtained results, showing an increase in efficiency for almost all working points, it can be stated that SPECTA is a promising new actuation technology that allows for an increase in energy recuperation, efficiency, and autonomy.

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Section: Constant Torque Unit With High-speed Motormentioning

confidence: 99%

“…• Series Elastic Actuators (SEA) [6][7][8][9][10][11][12]: actuators with a compliant element placed in series with the motor which modifies the speed profile of the motor and hence reduces mainly the friction-and gearing losses.…”

Section: Introductionmentioning

confidence: 99%

Novel SPECTA Actuator to Improve Energy Recuperation and Efficiency

et al. 2022

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“…Active compliance control for stiff joint relies on proper sensors, parameter identification, accurate dynamic modeling, robust control, etc. Some successful implementations in robotic systems can be found in KUKA [6]. The introduction of elastic elements into the drive chain of robot joint actuators to form a series elastic actuator (SEA) can easily make the robot system intrinsically flexible [7].…”

Section: Introductionmentioning

confidence: 99%

“…The introduction of elastic elements into the drive chain of robot joint actuators to form a series elastic actuator (SEA) can easily make the robot system intrinsically flexible [7]. Compared to conventional rigid actuators, the elastic element in a SEA significantly reduces the mechanical impedance of the joint, improves the ability to absorb shock loads and peak power [8], and the passive mechanical energy stored by the deformation of the elastic element can be reused, which helps to save energy during cyclic movements [9]. However, the fly in the ointment is that the mechanical stiffness of a traditional SEA is often constant and un-adjustable, which greatly limits its control bandwidth and application.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Compliant Actuator With Variable Stiffness by Spring Pretension Adjustment

Zhao,

Liu,

et al. 2023

IEEE Access

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Variable stiffness actuators (VSA) are an emerging advanced driving method for robotic joint in physical human-robot interaction scenarios. This paper proposes a VSA based on adjusting the pretightening force of the driving ropes by rotating the linear springs to change the angle of its axis relative to the input frame. By adjusting the spring angle within a small relative rotation angle stroke, the angle between the spring axis and the transmission rope can be changed, thereby achieving rapid stiffness adjustment in a large range. The characteristics analysis shows that the proposed VSA has good stiffness adjustment independence. The mechanical design scheme of the VSA is introduced in detail. Simulations based on a proportional derivative (PD) controller demonstrated the effectiveness of the design.INDEX TERMS Mechanism design, robotic joint, variable spring angle mechanism, variable stiffness actuator.

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“…Task planning, simulation, monitoring, and real-time control are some of the tools used to fulfill the objectives of this study, like workpiece recovery for reprocessing or the increase of the automation level o for the P/RML so that a human operator is no longer needed after the program is started. Moreover, the CAS improves the reusability feature of the production line [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Mobile Visual Servoing Based Control of a Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line

et al. 2022

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The main contribution of this paper is the modeling and control for a complex autonomous system (CAS). It is equipped with a visual sensor to operate precision positioning in a technology executed on a laboratory mechatronics line. The technology allows the retrieval of workpieces which do not completely pass the quality test. Another objective of this paper is the implementation of an assisting technology for a laboratory processing/reprocessing mechatronics line (P/RML) containing four workstations, assisted by the following components: a complex autonomous system that consists of an autonomous robotic system (ARS), a wheeled mobile robot (WMR) PeopleBot, a robotic manipulator (RM) Cyton 1500 with seven degrees of freedom (7 DOF), and a mobile visual servoing system (MVS) with a Logitech camera as visual sensor used in the process of picking, transporting and placing the workpieces. The purpose of the MVS is to increase the precision of the RM by utilizing the look and move principle, since the initial and final positions of the CAS can slightly deviate from their trajectory, thus increasing the possibility of errors to appear during the process of catching and releasing the pieces. If the processed piece did not pass the quality test and has been rendered as defective, it is retrieved from the last station of the P/RML and transported to the first station for reprocessing. The control of the WMR is done using the trajectory-tracking sliding-mode control (TTSMC). The RM control is based on inverse kinematics model, and the MVS control is implemented with the image moments method.

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Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Cited by 16 publications

References 20 publications

Novel SPECTA Actuator to Improve Energy Recuperation and Efficiency

Novel SPECTA Actuator to Improve Energy Recuperation and Efficiency

Design and Analysis of a Novel Compliant Actuator With Variable Stiffness by Spring Pretension Adjustment

Mobile Visual Servoing Based Control of a Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line

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