Novel Multi-configuration Elastic Actuator with Controllable Energy Flow and Power Modulation for Dynamic Energy Robot Systems

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-07-22 DOI:10.1002/aisy.202400079
Dunwen Wei, Xiangyu Zhang, Kunjian Yang, Tao Gao, Sajjad Hussain, Fanny Ficuciello
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Abstract

Designing actuators that can modulate power, achieve high energy efficiency, and ensure safe collision remains a challenge, especially for dynamic energy robot systems (DERS) with high-performance requirements. Herein, a novel multi-configuration elastic actuator (MCEA) is proposed based on a controllable planetary differential mechanism (PDM) with one power port from three springs. These springs, positioned between the inner gear ring and the fixed housing shell, are regulated by a single servo motor through a ratchet–pawl mechanism. This setup enables the springs to absorb energy during collisions, reducing impact and subsequently releasing this energy to boost power output. The inner gear ring functions as a controllable one-way rotating element, acting either as an input or output for power. The MCEA's ability to manage power modulation and energy flow is demonstrated through experiments that highlight its potential for safe collision management, energy recycling, and power modulation. Experiment results indicate that the maximum output power of the MCEA in the proposed hybrid elastic actuation (HEA) mode is 8.05 times higher than that in the traditional actuation (TA) mode. A single-legged robot with a four-link mechanism is also built to validate the considerable performance in the application of legged robots, showing considerable adaptability and prospects for DERS.

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用于动能机器人系统的具有可控能量流和功率调制功能的新型多配置弹性致动器
设计能够调节功率、实现高能效并确保安全碰撞的致动器仍然是一项挑战,尤其是对于具有高性能要求的动能机器人系统(DERS)而言。本文提出了一种新型多配置弹性致动器(MCEA),它基于可控行星差速机构(PDM),一个动力端口来自三个弹簧。这些弹簧位于内齿圈和固定外壳之间,由一个伺服电机通过棘轮棘爪机构进行调节。这种设置使弹簧能够在碰撞过程中吸收能量,减少冲击力,随后释放能量以提高动力输出。内齿圈是一个可控的单向旋转元件,既可作为动力输入,也可作为动力输出。通过实验证明了 MCEA 管理功率调制和能量流的能力,凸显了其在安全碰撞管理、能量回收和功率调制方面的潜力。实验结果表明,混合弹性致动(HEA)模式下 MCEA 的最大输出功率是传统致动(TA)模式下的 8.05 倍。此外,还制作了一个具有四连杆机构的单腿机器人,验证了其在腿部机器人应用中的可观性能,显示了 DERS 相当大的适应性和前景。
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CiteScore
1.30
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0.00%
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审稿时长
4 weeks
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