Series and parallel elastic actuation: Influence of operating positions on design and control
Beckerle P, Verstraten T, Mathijssen G, Furnemont R, Vanderborght B, Lefeber D (2017)
Publication Type: Journal article
Publication year: 2017
Journal
Book Volume: 22
Pages Range: 521-529
Article Number: 7676323
Journal Issue: 1
DOI: 10.1109/TMECH.2016.2621062
Abstract
It is well-established that properly tuned elastic elements can make robotic actuators more energy-efficient, especially in cyclic tasks. Considering a drive train topology, two important subcategories of elastic actuators are series elastic actuation (SEA) and parallel elastic actuation (PEA). There is still no definite answer to the fundamental question which topology consumes less energy in a given task. This paper approaches the problem by studying oscillatory motions of a single degree-of-freedom link in a gravitational field. The imposed motion is a sinusoid with a nonzero offset requiring a static torque that needs to be compensated by the actuation system. Simulations and experiments show that the SEA consumes less energy up to certain offset angles. At high offsets, the PEA becomes the more energy-efficient alternative, provided that its no-load angle is properly tuned. Inverse dynamics simulations show how a threshold offset angle can be determined for a given task.
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Germany (DE)
Belgium (BE)How to cite
APA:
Beckerle, P., Verstraten, T., Mathijssen, G., Furnemont, R., Vanderborght, B., & Lefeber, D. (2017). Series and parallel elastic actuation: Influence of operating positions on design and control. IEEE-Asme Transactions on Mechatronics, 22(1), 521-529. https://doi.org/10.1109/TMECH.2016.2621062
MLA:
Beckerle, Philipp, et al. "Series and parallel elastic actuation: Influence of operating positions on design and control." IEEE-Asme Transactions on Mechatronics 22.1 (2017): 521-529.
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