Beckerle, Philipp ; Stuhlenmiller, Florian ; Rinderknecht, Stephan (2023)
Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics.
In: Actuators, 2017, 6 (4)
doi: 10.26083/tuprints-00015622
Artikel, Zweitveröffentlichung, Verlagsversion
 | Es ist eine neuere Version dieses Eintrags verfügbar. |
Kurzbeschreibung (Abstract)
Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to exploit the corresponding knowledge of natural dynamics by tuning the system to antiresonance operation. Despite nonlinear friction effects and additional electrical dynamics, the consideration of the ideal mechanical dynamics is completely sufficient for stiffness control. Simulations and experiments show that this yields a distinct reduction in power and energy consumption, which underlines the suitability of the control strategy.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Beckerle, Philipp ; Stuhlenmiller, Florian ; Rinderknecht, Stephan |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics |
| Sprache: | Englisch |
| Publikationsjahr: | 1 Dezember 2023 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2017 |
| Ort der Erstveröffentlichung: | Basel |
| Verlag: | MDPI |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Actuators |
| Jahrgang/Volume einer Zeitschrift: | 6 |
| (Heft-)Nummer: | 4 |
| Kollation: | 12 Seiten |
| DOI: | 10.26083/tuprints-00015622 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/15622 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to exploit the corresponding knowledge of natural dynamics by tuning the system to antiresonance operation. Despite nonlinear friction effects and additional electrical dynamics, the consideration of the ideal mechanical dynamics is completely sufficient for stiffness control. Simulations and experiments show that this yields a distinct reduction in power and energy consumption, which underlines the suitability of the control strategy. |
| Freie Schlagworte: | stiffness control, energy efficiency, series elastic actuators, variable stiffness actuators |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-156223 |
| Zusätzliche Informationen: | This article belongs to the Special Issue Variable Stiffness and Variable Impedance Actuators |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Institut für Mechatronische Systeme im Maschinenbau (IMS) |
| Hinterlegungsdatum: | 01 Dez 2023 14:17 |
| Letzte Änderung: | 04 Dez 2023 13:01 |
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| Suche nach Titel in: | TUfind oder in Google |
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- Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics. (deposited 01 Dez 2023 14:17) [Gegenwärtig angezeigt]
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