Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements

Autor:	Boi Okken, Stefano Stramigioli, Wesley Roozing
Přispěvatelé:	Precision Engineering, TechMed Centre, Digital Society Institute, Robotics and Mechatronics
Rok vydání:	2022
Předmět:	Bandwidth Torque 2023 OA procedure Prototypes Analytical models Magnetic analysis Actuators Magnetoelasticity
Zdroj:	2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 166-173 STARTPAGE=166;ENDPAGE=173;TITLE=2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Popis:	We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::32c520824c7792e088d32979f2dd9dda https://doi.org/10.1109/ssrr56537.2022.10018635 Zobrazit plný text záznamu