+SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms
2016 IEEE International Conference on Robotics and Automation (ICRA)(2016)
摘要
Modern actuation schematics become increasingly ingenious by deploying springs and locking mechanisms in series and/or parallel. Many of these solutions are, however, tailored for a specific application and a general schematic that allows for drastic energy reduction remains a challenge. We have developed a series-parallel elastic actuator (SPEA) based on a symbiosis of multiple motors, springs and locking mechanisms in parallel, which we call +SPEA. This paper introduces the novel +SPEA concept. We present a first prototype, a +SPEA model and a control strategy that optimizes the energy consumption, and experiments to verify the working principle and recruitment strategy. The experiments show a good fit with the model and currently the actuator reduces the required energy in blocked output experiments by more than a factor 4.
更多查看译文
关键词
SPEA,drastic actuator energy requirement reduction,parallel motors symbiosis,springs,locking mechanisms,actuation schematics,series-parallel elastic actuator,energy reduction,control strategy,energy consumption,recruitment strategy
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要