| Autor: |
Glenn Mathijssen, Raphaël Furnemont, Ronald Van Ham, Dirk Lefeber, Bram Vanderborght |
| Přispěvatelé: |
Applied Mechanics, Robotics & Multibody Mechanics Research Group, Mechanical Engineering, Engineering Technology |
| Předmět: |
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| Zdroj: |
Vrije Universiteit Brussel |
| Popis: |
Actuators are key components for moving and con- trolling a mechanism or system. However, the torque to weight ratio and the energy efficiency of the current state of the art actuators is much lower than in human muscles. As a consequence, among others, manipula- tors for human robot interaction in industry or service applications have a low payload to weight ratio and a low energy efficiency. Therefore, we developed a novel actuation concept which we name Series-Parallel Elas- tic Actuation (SPEA). The concept enables variable recruitment and locking of multiple springs in par- allel. After a problem analysis, the Series-Parallel Elastic Actuator schematic will be introduced. Next, a first prototype with the first results is discussed. The experimental results endorse the practicability of the SPEA concept and the modeled trend of a lowered motor torque and increased energy efficiency. A second prototype which is recently designed will be introduced as well. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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