Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator

被引：0

作者：

Martins, Leandro Tome ^{[1
]}

Tatsch, Christopher ^{[1
]}

Maciel, Eduardo Henrique ^{[2
]}

Bayan Henriques, Renato Ventura ^{[2
]}

Gerndt, Reinhard ^{[3
]}

da Guerra, Rodrigo Silva ^{[1
]}

机构：

[1] Univ Fed Santa Maria, Ctr Tecnol, Av Roraima 1000, BR-97119900 Santa Maria, RS, Brazil

[2] Univ Fed Rio Grande do Sul, Programa Posgrad Engn Eletr, Porto Alegre, RS, Brazil

[3] Ostfalia Univ Appl Sci, Dept Comp Sci, D-38302 Wolfenbuttel, Germany

来源：

ROBOCUP 2015: ROBOT WORLD CUP XIX | 2015年 / 9513卷

关键词：

Series elastic actuator; Passive compliance;

D O I：

10.1007/978-3-319-29339-4_29

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This article extends previous work, presenting a novel polyurethane based compliant spring system designed to be attached to a conventional robotics servo motor, turning it into a series elastic actuator (SEA). The new system is composed by only two mechanical parts: a torsional polyurethane spring and a round aluminum support for link attachment. The polyurethane spring, had its design derived from a iterative FEM-based optimization process. We present also some system identification and practical results using a PID controller for robust position holding.

引用

页码：347 / 355

页数：9

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