Design of a Modular Series Elastic Upgrade to a Robotics Actuator

被引：3
|
作者：
Martins, Leandro Tome [1 ,2 ]
Pretto, Roberta de Mendonca [1 ,2 ]
Gerndt, Reinhard [2 ]
Guerra, Rodrigo da Silva [1 ]
机构：
[1] Univ Fed Santa Maria, Ctr Tecnol, Av Roraima, BR-1000 Santa Maria, RS, Brazil
[2] Ostfalia Univ Appl Sci, Dept Comp Sci, D-38302 Wolfenbuttel, Germany
来源：
ROBOCUP 2014: ROBOT WORLD CUP XVIII | 2015年 / 8992卷
关键词：
Series elastic actuator; Passive compliance;
D O I：
10.1007/978-3-319-18615-3_57
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this article we present a compact and modular device designed to allow a conventional stiff servo actuator to be easily upgraded into a series elastic actuator (SEA). This is a low cost, open source and open hardware solution including mechanical CAD drawings, circuit schematics, board designs and firmware code. We present a complete overview of the project as well as a case study where we show the device being employed as an upgrade to add compliance to the knee joints of an existing humanoid robot design.
引用
收藏
页码：701 / 708
页数：8
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