Series and Parallel Elastic Actuation: Influence of Operating Positions on Design and Control
IEEE/ASME Transactions on Mechatronics(2017)
摘要
It is well-established that properly tuned elastic elements can make robotic actuators more energy-efficient, especially in cyclic tasks. Considering a drive train topology, two important subcategories of elastic actuators are series elastic actuation (SEA) and parallel elastic actuation (PEA). There is still no definite answer to the fundamental question which topology consumes less energy in a g...
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关键词
Actuators,Torque,Friction,Dynamics,Robots,Mathematical model,Resonant frequency
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