非反驱动串联弹性作动器的设计与分析

J. Sensinger, R. Weir
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引用次数: 46

摘要

串联弹性致动器的顺应性使其对环境扰动具有鲁棒性,并且其使用阻抗控制的能力可以提高其在开环环境(如传统假肢控制)中的性能。系列弹性致动器历来需要反向驱动传动,以确保足够的带宽。作者创造了一个非反驱动系列弹性驱动器通过包含谐波传动,其中不包含反弹;限制频率分辨率的主要特征。该驱动器具有可接受的速度和失速扭矩以及适当的频率范围,并将在未来用于实现假肢的阻抗控制。
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Design and analysis of a non-backdrivable series elastic actuator
The compliance of series elastic actuators makes them robust to environmental perturbations, and their ability to use impedance control may improve their performance in open-loop environments such as conventional prosthetic control. Series elastic actuators have historically required a backdrivable transmission to ensure adequate bandwidth. The authors have created a non-backdrivable series elastic actuator through the inclusion of a harmonic drive transmission, which contains no backlash; the dominant feature in limiting frequency resolution. The actuator has an acceptable speed and stall torque and an adequate frequency range, and would be used in the future to implement impedance control of prosthetics.
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