From Series Elastic Actuation to Series-Parallel Elastic Actuation
G. Mathijssen, R. Furnémont, R. Van Ham, D. Lefeber, B. Vanderborght
Vrije Universiteit Brussel, Brussels, Belgium
Actuators are key components for moving and controlling 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, manipulators for human robot interaction in industry or service applications have a low payload to weight ratio and low energy efficiency. Therefore, we developed a novel actuation concept which we name Series-Parallel Elastic Actuation (SPEA). The concept enables variable recruitment and locking of multiple springs in parallel. After a problem analysis, the Series-Parallel Elastic Actuator schematic will be introduced. Next, our two prototypes will be discussed. The experimental results endorse the practicability of the SPEA concept and the modeled trend of a lowered motor torque and increased energy efficiency.
ACTUATOR 2014 Manuscript B5.2
Publication date: 09/04/2015
Manuscript B5.2 published in Conference Proceedings ACTUATOR 2014
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