Lens, Thomas ; Kirchhoff, Jérôme ; Stryk, Oskar von ; 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), pp. 779-784,
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 ; Kirchhoff, Jérôme ; Stryk, Oskar von ; 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. |
| Book Title: | 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 |
| PPN: | |
| Corresponding Links: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
 |
Send an inquiry |
Options (only for editors)
 |
Show editorial Details |
Drucken
Impressum