Design and Analysis of a Clutched Parallel Elastic Actuator

被引：19

作者：

Penzlin, Bernhard ^{[1
]}

Fincan, Mustafa Enes ^{[1
]}

Li, Yinbo ^{[2
]}

Ji, Linhong ^{[2
]}

Leonhardt, Steffen ^{[1
]}

Chuong Ngo ^{[1
]}

机构：

[1] Rhein Westfal TH Aachen, Helmholtz Inst, Chair Med Informat Technol, Pauwelsstr 20, D-52074 Aachen, Germany

[2] Tsinghua Univ, Inst Mech Design, Dept Mech Engn, Shuangqing Rd 30, Beijing 100084, Peoples R China

来源：

ACTUATORS | 2019年 / 8卷 / 03期

基金：

中国国家自然科学基金;

关键词：

parallel-elastic actuators; energy-efficient actuators; compliant actuators; rehabilitation robotics; actuator design; STIFFNESS; JOINT;

D O I：

10.3390/act8030067

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Various actuator topologies are discussed for the purpose of powering periodic processes and particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce the energy consumption of active exoskeletons. A nonlinear model of the CPEA is presented in addition to the mechanical design. The CPEA prototype is operated with a passive load on the walking trajectory of the hip joint. The actuator is controlled with a cascaded position control and a superimposed Iterative Learning Controller (ILC). The controller was chosen to ensure comparability between active and deactivated spring operation. The application of the CPEA has the potential to increase efficiency in the design of exoskeletons.

引用

页数：16

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