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Analysis of System Dynamic Influences in Robotic Actuators with Variable Stiffness.

Beckerle, Philipp and Wojtusch, Janis and Rinderknecht, Stephan and Stryk, Oskar von (2014):
Analysis of System Dynamic Influences in Robotic Actuators with Variable Stiffness.
In: Smart Structures and Systems, pp. 711-730, 13, (4), DOI: 10.12989/sss.2014.13.4.711,
[Article]

Abstract

In this paper the system dynamic influences in actuators with variable stiffness as contemporary used in robotics for safety and efficiency reasons are investigated. Therefore, different configurations of serial and parallel elasticities are modeled by dynamic equations and linearized transfer functions. The latter ones are used to identify the characteristic behavior of the different systems and to study the effect of the different elasticities. As such actuation concepts are often used to reach energy-efficient operation, a power consumption analysis of the configurations is performed. From the comparison of this with the system dynamics, strategies to select and control stiffness are derived. Those are based on matching the natural frequencies or antiresonance modes of the actuation system to the frequency of the trajectory. Results show that exclusive serial and parallel elasticity can minimize power consumption when tuning the system to the natural frequencies. Antiresonance modes are an additional possibility for stiffness control in the series elastic setup. Configurations combining both types of elasticities do not provide further advantages regarding power reduction but an input parallel elasticity might enable for more versatile stiffness selection. Yet, design and control effort increase in such solutions. Topologies incorporating output parallel elasticity showed not to be beneficial in the chosen example but might do so in specific applications.

Item Type: Article
Erschienen: 2014
Creators: Beckerle, Philipp and Wojtusch, Janis and Rinderknecht, Stephan and Stryk, Oskar von
Title: Analysis of System Dynamic Influences in Robotic Actuators with Variable Stiffness.
Language: English
Abstract:

In this paper the system dynamic influences in actuators with variable stiffness as contemporary used in robotics for safety and efficiency reasons are investigated. Therefore, different configurations of serial and parallel elasticities are modeled by dynamic equations and linearized transfer functions. The latter ones are used to identify the characteristic behavior of the different systems and to study the effect of the different elasticities. As such actuation concepts are often used to reach energy-efficient operation, a power consumption analysis of the configurations is performed. From the comparison of this with the system dynamics, strategies to select and control stiffness are derived. Those are based on matching the natural frequencies or antiresonance modes of the actuation system to the frequency of the trajectory. Results show that exclusive serial and parallel elasticity can minimize power consumption when tuning the system to the natural frequencies. Antiresonance modes are an additional possibility for stiffness control in the series elastic setup. Configurations combining both types of elasticities do not provide further advantages regarding power reduction but an input parallel elasticity might enable for more versatile stiffness selection. Yet, design and control effort increase in such solutions. Topologies incorporating output parallel elasticity showed not to be beneficial in the chosen example but might do so in specific applications.

Journal or Publication Title: Smart Structures and Systems
Volume: 13
Number: 4
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute for Mechatronic Systems in Mechanical Engineering (IMS)
16 Department of Mechanical Engineering > Institute of Production Management, Technology and Machine Tools (PTW)
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Interdisziplinäre Forschungsprojekte
Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik
Date Deposited: 20 Jun 2016 23:26
DOI: 10.12989/sss.2014.13.4.711
Identification Number: BeckerleSMART:2014
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