Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Bücher
Zeitschriften
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
MTZ-Fachkongress

Antriebe und Energiesysteme von morgen


Austausch von Automobil- und Energiewirtschaft

Am 14./15. Mai geht es in Chemnitz um die Mobilitätswende durch Elektro- und Wasserstofffahrzeuge.
Erweiterte Suche
Anmelden
nach oben
Intelligent Service Robotics
Erschienen in: Intelligent Service Robotics 3/2022

19.02.2022 | Original Research Paper

Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring

verfasst von: Wisam T. Abbood, Somer M. Nacy, George Youssef, Oday I. Abdullah

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2022

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

The present paper investigates a variable stiffness elastic actuator, which was adjusted using a special-purpose mechanism. A model was derived to obtain the response of the actuator. Concurrently, an experimental setup was designed and manufactured to validate the theoretical model. A novel control scheme is adopted to enhance the response through stiffness variation. Results showed that the time of response is reduced by 73% as compared to that of a constant stiffness actuator. In order to find the effectiveness of the proposed control scheme, a PID controller is implemented, where the response time was reduced by 58% using the former.
Vorheriger Artikel Towards long-distance inspection for in-pipe robots in water distribution systems with smart motion facilitated by particle filter and multi-phase motion controller
Nächster Artikel Auto-splitting D* lite path planning for large disaster area

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren
Literatur
1.
Pratt GA, Williamson MM (1995) Series elastic actuators. In: Proceedings of IEEE/RSJ international conference on intelligent robot interaction and cooperative robots, PA, USA (1995) pp. 388–406.
2.
Paluska D, Hugh H (2006) Series elasticity and actuator power output. In: Proceedings of IEEE/ICRA international conference on robotics and automation, FL, USA pp. 1830–1833
3.
Vanderborght B, Albu-Schäffer A, Bicchi A, Burdet E, Caldwell DG, Carloni R, Catalano MG et al (2013) Variable impedance actuators: a review. Robot Auton Syst 61(12):1601–1614CrossRef
4.
Grioli G, Wolf S, Garabini M, Catalano M, Burdet E, Caldwell D, Carloni R, Friedl W, Grebenstein M, Laffranchi M, Lefeber D (2015) Variable stiffness actuators: the user’s point of view. Int J Robot Res 34(6):727–743CrossRef
5.
Kim BS, Song JB (2010) Hybrid dual actuator unit: a design of a variable stiffness actuator based on an adjustable moment arm mechanism. In: Proceedings of IEEE international conference on robotics and automation, Anchorage, AK, USA pp. 1655–1660
6.
Kim BS, Song JB (2012) Design and control of a variable stiffness actuator based on adjustable moment arm. IEEE Trans Robot 28(5):1145–1151CrossRef
7.
Tsagarakis NG, Sardellitti I, Caldwell DG (2011) A new variable stiffness actuator (CompAct-VSA): Design and modelling. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, CA, USA pp. 378–383
8.
Groothuis SS, Rusticelli G, Zucchelli A, Stramigioli S, Carloni R (2014) The variable stiffness actuator vsaUT-II: mechanical design, modeling, and identification. IEEE/ASME Trans Mech 19(2):589–597CrossRef
9.
Choi J, Hong S, Lee W, Kang S, Kim M (2011) A robot joint with variable stiffness using leaf springs. IEEE Trans Rob 27(2):229–238CrossRef
10.
Groothuis S, Carloni R, Stramigioli S (2014) A novel variable stiffness mechanism capable of an infinite stiffness range and unlimited decoupled output motion. Multidiscip Digital Publ Inst Actuato 3(2):107–123
11.
Palli G, Berselli G, Melchiorri C, Vassura G (2011) Design of a variable stiffness actuator based on flexures. J Mech Robot 3(3):034501CrossRef
12.
Jafari A, Tsagarakis NG, Sardellitti I, Caldwell DG (2014) A new actuator with adjustable stiffness based on a variable ratio lever mechanism. IEEE/ASME Trans Mech 19(1):55–63CrossRef
13.
Zhou X, Jun SK, Krovi V (2015) A cable based active variable stiffness module with decoupled tension. ASME J Mech Robot 7(1):011005CrossRef
14.
Wang W, Fu X, Li Y, Yun C (2016) Design of variable stiffness actuator based on modified gear-rack mechanism. ASME J Mech Robot 8(6):061008CrossRef
15.
Wang W, Fu X, Li Y, Yun C (2018) Design and implementation of a variable stiffness actuator based on flexible gear rack mechanism. Robotica 36(3):448–462CrossRef
16.
J de Gea Fernandez, B Yu, V Bargsten, M Zipper, H Sprengel (2020) Design, modelling and control of novel series-elastic In: Actuators for industrial robots, actuators, vol. 9, pp. 6
17.
Wang W, Zhao Y, Li Y (2018) Design and dynamic modeling of variable stiffness joint actuator based on archimedes spiral. IEEE Access 6:43798–43807CrossRef
18.
Vanderborght B, Albu-Schäffer A, Bicchi A, Burdet E, Caldwell DG, Carloni R, Catalano M, Ganesh G, Garabini M, Grebenstein M, Grioli G (2012) Variable impedance actuators: moving the robots of tomorrow. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, Vilamoura, Portugal pp. 5454–5455
19.
Schiavi R, Grioli G, Sen S, Bicchi A (2008) VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans. In: Proceedings of IEEE international conference on robotics and automation, CA, USA pp. 2171–2176
20.
Tonietti G, Schiavi R, Bicchi A (2005) Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction. In: Proceedings of IEEE international conference on robotics and automation, Barcelona, Spain pp. 526–531
21.
Haddadin S, Weis M, Wolf S, Albu-Schäffer A (2011) Optimal control for maximizing link velocity of robotic variable stiffness joints. In: 18th IFAC world congress vol. 44(1), pp. 6863–6871
22.
Braun DJ, Petit F, Huber F, Haddadin S, Van Der Smagt P, Albu-Schäffer A, Vijayakumar S (2012) Optimal torque and stiffness control in compliantly actuated robots." In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, Vilamoura, Portugal pp. 2801–2808
23.
Braun DJ, Howard M, Vijayakumar S (2012) Exploiting variable stiffness in explosive movement tasks robotics: science and systems VII. The MIT Press, Cambridge
24.
Garabini M, Passaglia A, Belo F, Salaris P, Bicchi A (2011) Optimality principles in variable stiffness control: the VSA hammer. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, CA, USA pp. 3770–3775
25.
Braun D, Howard M, Vijayakumar S (2012) Optimal variable stiffness control: formulation and application to explosive movement tasks. Auton Robot 33(3):237–253CrossRef
26.
Özparpucu MC, Haddadin S, Albu-Schäffer A (2014) Optimal control of variable stiffness actuators with nonlinear springs. In: 19th IFAC world congress vol. 47(3): pp. 8487–8495
27.
Lee C, Oh S (2019) Development, analysis, and control of series elastic actuators-driven robot leg. Front Neurorobot 13:17CrossRef
28.
Vantilt J, Tanghe K, Afschrift M, Bruiljnes AK, Junius K, Geeroms J, Aertbelien E, De Groote F, Lefeber D, Jonkers I, De Schutter J (2019) Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements. J Neuro Eng Rehabil 16(1):1–21CrossRef
29.
Paine N, Oh S, Sentis L (2014) Design and control considerations for high-performance series elastic actuators. IEEE/ASME Trans Mech 19(3):1080–1091CrossRef
30.
Cappello L, Xiloyannis M, Dinh BK, Pirrera A, Mattioni F, Masia L (2019) Multistable series elastic actuators: design and control. Robot Auton Syst 118:167–178CrossRef
31.
Wolf S, Bahls T, Chalon M, Friedl W, Grebenstein M, Höppner H, Kühne M, Lakatos D, Mansfeld N, Özparpucu MC, Petit F (2015) Soft robotics with variable stiffness actuators: tough robots for soft human robot interaction. In: Verl A, Albu-Schäffer A, Brock O, Raatz A (eds) Soft robotics. Springer, Berlin, Heidelberg, pp 231–254. https://​doi.​org/​10.​1007/​978-3-662-44506-8_​20
32.
Van Ham R, Vanderborght B, Van Damme M, Verrelst B, Lefeber D (2007) MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: design and implementation in a biped robot. Robot Auton Syst 55(10):761–768CrossRef
33.
Palli G (2008) Variable stiffness actuation: modeling and control. University of Bologna, Bologna
34.
35.
Yildirim MC, Kansizoglu AT, Sendur P, Ugurlu B (2018) High power series elastic actuator development for torque-controlled exoskeletons. In: Wearable robotics: challenges and trends. WeRob 2018. Biosystems and Biorobotics, vol. 22
36.
Hammond ZM, Usevitch NS, Hawkes EW, Follmer S (2017) Pneumatic reel actuator: design, modeling, and implementation. In: Proceedings of the IEEE international conference on robotics and automation, Singapore pp. 626–633
37.
Petit F, Chalon M, Friedl W, Grebenstein M, Albu-Schäffer A, Hirzinger G (2010) Bidirectional antagonistic variable stiffness actuation: analysis, design & implementation. In: Proceedings of the IEEE international conference on robotics and automation, Anchorage, AK pp. 4189–4196
38.
Petit F, Friedl W, Höppner H, Grebenstein M (2015) Analysis and synthesis of the bidirectional antagonistic variable stiffness mechanism. IEEE/ASME Trans Mechatron 20(2):684–695CrossRef
39.
Lee JH, Wahrmund C, Jafari A (2017) A novel mechanically overdamped actuator with adjustable stiffness (MOD-AwAS) for safe interaction and accurate positioning. Multidiscip Dig Publish Inst Actuat 6(3):22
40.
Bilancia P, Berselli G, Scarcia U, Palli G (2018) Design of a beam-based variable stiffness actuator via shape optimization in a CAD/CAE environment. In: Proceedings of the ASME conference on smart materials, adaptive structures and intelligent systems, Vol. 1, Texas, USA pp. V001T03A013-V001T03A013
41.
Wolf S, Hirzinger G (2008) A new variable stiffness design: matching requirements of the next robot generation. In: Proceedings of the IEEE international conference on robotics and automation, Pasadena, CA pp. 1741–1746
42.
Eiberger O, Haddadin S, Weis M, Albu-Schäffer A, Hirzinger G (2010) On joint design with intrinsic variable compliance: derivation of the DLR QA-joint. In: Proceedings of the IEEE international conference on robotics and automation, Anchorage, AK pp. 1687–1694
43.
Strasnick E, Holz C, Ofek E, Sinclair M, Benko H (2018) Haptic links: bimanual haptics for virtual reality using variable stiffness actuation. In: Proceedings of the 2018 CHI conference on human factors in computing systems, association for computing machinery, NY, USA p. 644
44.
Schrade SO, Dätwyler K, Stücheli M, Studer K, Türk DA, Meboldt M, Gassert R, Lambercy O (2018) Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016. J Neuroeng Rehabil 15(1):18CrossRef
45.
Visser LC, Carloni R, Stramigioli S (2010) Variable stiffness actuators: a port-based analysis and a comparison of energy efficiency. In: Proceedings of the IEEE international conference on robotics and automation, Anchorage, AK pp. 3279–3284 (2010)
46.
Visser LC, Carloni R, Stramigioli S (2011) Energy-efficient variable stiffness actuators. IEEE Trans Rob 27(5):865–875CrossRef
47.
Al-Ammri AS, Ghaith AT (2013) Design of robotic arm control system mimics human arm motion. Al-Khwarizmi Eng J 9.1:9–18
48.
Velasco A, Garabini M, Catalano MG, Bicchi A (2015) Soft actuation in cyclic motions: stiffness profile optimization for energy efficiency. In: Proceedings of the IEEE-RAS 15th international conference on humanoid robots (Humanoids), Seoul pp. 107–113
49.
Niet EAB, Rezazadeh S, Gregg RD IV (2019) Minimizing energy consumption and peak power of series elastic actuators: a convex optimization framework for elastic element design. IEEE ASME Trans Mechatron. 24(3):1334–1345CrossRef
50.
Penzlin B, Leipnitz A, Bergmann L, Li Y, Ji L, Leonhardt S, Ngo C (2020) Conceptual design, modelling and control of a rigid parallel serial-elastic actuator. Automatisierungstechnik 68(6):410–422CrossRef
51.
Swift WAC (1971) An analysis of the spiral spring”, Ph.D. thesis, Department of Mechanical Engineering, The University of Sheffield
Metadaten
Titel
Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring
verfasst von
Wisam T. Abbood
Somer M. Nacy
George Youssef
Oday I. Abdullah
Publikationsdatum
19.02.2022
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 3/2022
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-022-00413-x

Weitere Artikel der Ausgabe 3/2022

Intelligent Service Robotics 3/2022 Zur Ausgabe

Original Research Paper

Drift compensation of a holonomic mobile robot using recurrent neural networks

Correction

Correction to: Fuzzy rule-based environment-aware autonomous mobile robots for actuated touring

Original Research Paper

A few-shot learning framework for planar pushing of unknown objects

Original Research Paper

Real-time path planning for autonomous vehicle based on teaching–learning-based optimization

Original Research Paper

Elastic deformation modeling of series robots with consideration of gravity

Original Research Paper

Fuzzy rule-based environment-aware autonomous mobile robots for actuated touring

Neuer Inhalt

    Bildnachweise