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Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics

Beckerle, Philipp ; Stuhlenmiller, Florian ; Rinderknecht, Stephan (2017)
Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics.
In: Actuators, 6 (4)
doi: 10.3390/act6040028
Artikel, Bibliographie

Dies ist die neueste Version dieses Eintrags.

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: 2017
Autor(en): Beckerle, Philipp ; Stuhlenmiller, Florian ; Rinderknecht, Stephan
Art des Eintrags: Bibliographie
Titel: Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics
Sprache: Englisch
Publikationsjahr: 2017
Ort: Basel
Verlag: MDPI
Titel der Zeitschrift, Zeitung oder Schriftenreihe: Actuators
Jahrgang/Volume einer Zeitschrift: 6
(Heft-)Nummer: 4
Kollation: 12 Seiten
DOI: 10.3390/act6040028
Zugehörige Links:
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
Fachbereich(e)/-gebiet(e): 16 Fachbereich Maschinenbau
16 Fachbereich Maschinenbau > Institut für Mechatronische Systeme im Maschinenbau (IMS)
Interdisziplinäre Forschungsprojekte
Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik
Hinterlegungsdatum: 06 Mär 2018 10:37
Letzte Änderung: 04 Dez 2023 13:02
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