Author
Sariyildiz, E., Mutlu, R., Roberts, J., Kuo, C. H., Uğurlu, Regaip Barkan
Publication Date
2023-06
Publication Place
-
IEEE
Subject
Compliant robotics, Physical robot-environment interaction, Safe robotics, Series elastic actuators (SEAs), Variable stiffness actuators (VSAs)
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1083-4435
Record ID
eff497a3-0279-45a0-b765-0b5c59eb66a5
Library Location
Mechanical Engineering
Date
2023-06
Sample Text
This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimize the stiffness modulation characteristics and power density of the actuator. The proposed VSSEA possesses the following features: no limitation in the work range of output link; a wide range of stiffness modulation (∼20 N·m/rad to ∼1 KN·m/rad); low-energy-cost stiffness modulation at equilibrium and nonequilibrium positions; compact design and high torque density (∼36 N·m/kg); and high-speed stiffness modulation (∼3000 N·m/rad/s). Such features can help boost the safety and performance of many advanced robotic systems, e.g., a cobot that physically interacts with unstructured environments and an exoskeleton that provides physical assistance to human users. These features can also enable us to utilize variable stiffness property to attain various regulation and trajectory tracking control tasks only by employing conventional controllers, eliminating the need for synthesizing complex motion control systems in compliant actuation. To this end, it is experimentally demonstrated that the proposed VSSEA is capable of precisely tracking the desired position and force control references through the use of the conventional proportional-integral-derivative controllers.
DOI
10.1109/TMECH.2022.3232471
Cilt
28
