Design and validation of symmetrical elastic elements in series elastic actuator

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-04-06 DOI:10.1115/1.4062274

Ruzhen Pei, Xibin Cao, Cheng Wei

引用次数: 0

Abstract

In recent years, as robots are frequently required to interact with the external environment, the demand for robot joint flexibility has been increasing. Series elastic actuators (SEAs) are widely used in robot joints as typical compliant actuators. However, the stiffness model based on the classical beam theory has a large error with the reality, which raises the design difficulty. In this paper, the data obtained from finite element analysis is analyzed theoretically. A theoretical model of the stiffness of a typical symmetric elastic element is obtained. The design experiments are verified and the fitting accuracy is 98.27%, which is significantly higher than that of the stiffness model based on classical beam theory. It can be used to design elastic elements that meet specific stiffness requirements.

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串联弹性执行器中对称弹性元件的设计与验证

近年来，由于机器人经常被要求与外部环境进行交互，对机器人关节灵活性的需求一直在增加。串联弹性致动器（SEAs）作为典型的柔顺致动器，广泛应用于机器人关节中。然而，基于经典梁理论的刚度模型与实际存在较大误差，增加了设计难度。本文对有限元分析得到的数据进行了理论分析。得到了一个典型对称弹性单元刚度的理论模型。通过设计实验验证，拟合精度为98.27%，明显高于基于经典梁理论的刚度模型。它可用于设计满足特定刚度要求的弹性元件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.