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Dynamic Modeling of Elastic Tendon Actuators with Tendon Slackening

Lens, Thomas and Kirchhoff, Jérôme and Stryk, Oskar von and Stryk, Oskar von (2012):
Dynamic Modeling of Elastic Tendon Actuators with Tendon Slackening.
In: Proceedings of the IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS), In: IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS), Osaka, Japan, Nov. 29 - Dec. 1, [Conference or Workshop Item]

Abstract

This paper presents a new, detailed dynamics model of a novel type of actuators based on tendons with integrated springs that allows for offline adjustment of the stiffness characteristics. Like other cable or belt actuators, the elastic tendon actuator allows to radically reduce the link inertia by placing the motors near the robot base. But by additionally integrating springs in the tendons, the motor and the joint are elastically decoupled, which increases the lifespan of the tendons and the safety of the actuator. A detailed mathematical model of the actuator is derived taking tendon slackening effects into consideration. The result is a degressive stiffness curve that depends on the pretension force of the integrated tendon springs. The derived model is validated against static and dynamic experimental measurement data of a robot arm equipped with elastic tendon actuators.

Item Type: Conference or Workshop Item
Erschienen: 2012
Creators: Lens, Thomas and Kirchhoff, Jérôme and Stryk, Oskar von and Stryk, Oskar von
Title: Dynamic Modeling of Elastic Tendon Actuators with Tendon Slackening
Language: English
Abstract:

This paper presents a new, detailed dynamics model of a novel type of actuators based on tendons with integrated springs that allows for offline adjustment of the stiffness characteristics. Like other cable or belt actuators, the elastic tendon actuator allows to radically reduce the link inertia by placing the motors near the robot base. But by additionally integrating springs in the tendons, the motor and the joint are elastically decoupled, which increases the lifespan of the tendons and the safety of the actuator. A detailed mathematical model of the actuator is derived taking tendon slackening effects into consideration. The result is a degressive stiffness curve that depends on the pretension force of the integrated tendon springs. The derived model is validated against static and dynamic experimental measurement data of a robot arm equipped with elastic tendon actuators.

Title of Book: Proceedings of the IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS)
Event Location: Osaka, Japan
Event Dates: Nov. 29 - Dec. 1
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2012_Humanoids_Lens
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