Development of a hybrid actuator with controllable mechanical damping

Sarakoglou, Ioannis; Tsagarakis, Nikos G.; Caldwell, Darwin G.

doi:10.1109/icra.2014.6906988

Cited by 9 publications

(15 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The control of the damping torque is convenient, and a wide variation range of the damping torque can be achieved. The control of this type of FD is presented by Sarakoglou et al 39 System model of the ENTS-based VSA The nominal dynamic model of the ENTS-based VSA is given by equation 5, and the assumed nominal values of the parameters of the system model are presented in Appendix I.…”

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

“…The introduction of damping can potentially bring several benefits for the tracking control. 39 By adjusting the deformation of the spring used in the FD, the mechanical damping level of the output shaft can be controlled continuously. As shown in Figure 1(e), the stationary friction pad (36) is driven by the damper motor through a ball screw arrangement, and the rotatable friction pad (40) is rotated synchronously with the output shaft.…”

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

“…The damping torque is generated by applying the controlled spring force on the stationary friction pad (36). Compared with the FDs designed by Sarakoglou et al, 39 the normal force applied to the friction pad (36) is provided by a linear compression spring with a large allowable amount of deformation, and the damping torque is proportional to the amount of deformation of the spring. The control of the damping torque is convenient, and a wide variation range of the damping torque can be achieved.…”

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

“…The control of the damping torque is convenient, and a wide variation range of the damping torque can be achieved. The control of this type of FD is presented by Sarakoglou et al 39…”

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

See 3 more Smart Citations

Mechanical design and robust tracking control of a class of antagonistic variable stiffness actuators based on the equivalent nonlinear torsion springs

Guo

Tian

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

The novel conceptual model of the antagonistic variable stiffness actuator based on the equivalent nonlinear torsion spring and the friction damper is demonstrated. For the dynamic model of the antagonistic variable stiffness actuator in the presence of parametric uncertainties, unknown bounded friction torques, unknown bounded external disturbance, and input saturation constraints, using the coordinate transformation, the state space model of the antagonistic variable stiffness actuator with composite disturbances and input saturation constraints is transformed into an extended integral chain-type pseudo-linear system with input saturation constraints. Subsequently, a combination of the linear extended state observer, sliding mode control, and adaptive input saturation compensation law is adopted for the design of the robust tracking controller that simultaneously regulates the position and stiffness of the antagonistic equivalent nonlinear torsion spring-based variable stiffness actuator. Under the proposed controller, the semi-global uniformly ultimately bounded stability of the closed-loop system has been proved via Lyapunov stability analysis. Simulation studies demonstrate the effectiveness and the robustness of the proposed robust adaptive tracking control method for the antagonistic variable stiffness actuator.

show abstract

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

“…The control of the damping torque is convenient, and a wide variation range of the damping torque can be achieved. The control of this type of FD is presented by Sarakoglou et al 39…”

Section: Conceptual Model Of the Ents-based Vsamentioning

confidence: 99%

See 2 more Smart Citations

Mechanical design and robust tracking control of a class of antagonistic variable stiffness actuators based on the equivalent nonlinear torsion springs

Guo

Tian

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

show abstract

“…Several actuators use torsion spiral springs [16] [17]. These springs are generally custom-made which grants a greater freedom for design.…”

Section: Torsion Spiral Springmentioning

confidence: 99%

Torsion MACCEPA: A novel compact compliant actuator designed around the drive axis

Furnémont

Mathijssen

Hoeven

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is a Variable Stiffness Actuator (VSA) where both equilibrium position and stiffness of the actuator can be controlled independently. It uses only one linear spring and has a simple design but its compactness is limited by the spring. For this reason a MACCEPA utilizing torsion spiral springs was designed, reducing the planar dimensions of the actuator. Torsion spiral springs are placed around the joint axis, allowing a more compact VSA in comparison to previous designs. To the authors' best knowledge, this is the first VSA based on torsion springs. This paper firstly presents the design of the actuator as the static equations and secondly discusses the design and production of the torsion spiral springs. The newly presented actuator is built and experiments are conducted to validate the model and feasibility of the torsion MACCEPA.

show abstract

A Rotary-Cage Valve (RCV) for Variable Damper in Prosthetic Knee

Fan,

Dai,

et al. 2023

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Development of a hybrid actuator with controllable mechanical damping

Cited by 9 publications

References 13 publications

Mechanical design and robust tracking control of a class of antagonistic variable stiffness actuators based on the equivalent nonlinear torsion springs

Mechanical design and robust tracking control of a class of antagonistic variable stiffness actuators based on the equivalent nonlinear torsion springs

Torsion MACCEPA: A novel compact compliant actuator designed around the drive axis

A Rotary-Cage Valve (RCV) for Variable Damper in Prosthetic Knee

Contact Info

Product

Resources

About