ACTUATOR 2014 Manuscript B5.2

Author: Hubert Borgmann
Pages: 4
Language: English
Publication date: 09/04/2015
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Manuscript B5.2 published in Conference Proceedings ACTUATOR 2014
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.
El vendedor asume toda la responsabilidad de esta entrada.
Hubert Borgmann, MESSE BREMEN,
Project Manager ACTUATOR, International Conference and Exhibition on New Actuators and Drive Systems, Bremen, Germany, and Editor of the ACTUATOR Conference Proceedings (
Project Manager ITHEC, International Conference and Exhibition on Thermoplastic Composites, Bremen, Germany, and Editor of the ITHEC Conference Proceedings (

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