Mechanical design of a 3-DOF humanoid soft arm based on modularized series elastic actuator

2015 ◽  
Author(s):  
Xiaoxu Gu ◽  
Kun Wang ◽  
Tianyu Cheng ◽  
Xiuli Zhang
Keyword(s):  
Mechanical Design ◽  
Series Elastic Actuator ◽  
Series Elastic

A Novel Variable Impedance Compact Compliant Series Elastic Actuator: Analysis of Design, Dynamics, Materials and Manufacturing

2012 ◽  
Vol 245 ◽  
pp. 99-106 ◽  
Author(s):  
S.M. Mizanoor Rahman
Keyword(s):  
High Speed ◽  
Mechanical Design ◽  
Spur Gear ◽  
Ball Screw ◽  
Series Elastic Actuator ◽  
Torsional Spring ◽  
Dynamics And Control ◽  
Manufacturing Techniques ◽  
Design Selection ◽  
Series Elastic

This paper presents the analysis of electro-mechanical design, selection of materials and manufacturing techniques for physical construction, dynamics, control etc. of a novel variable impedance compact compliant series elastic actuator (SEA) for human-friendly robotics applications. The electro-mechanical design consists of a servomotor, a ball screw, a torsional spring connecting the servomotor and the ball screw via a pair of spur gear, and a set of translational springs connecting the ball screw nut to the output link. The translational springs have low stiffness and these are used to handle low force operations that reduce non-linear friction, output impedance, impact etc. The torsional spring is in the high speed range, has high effective stiffness and it enhances the system bandwidth for large force operations when the translational springs are fully compressed. Suitable materials and appropriate manufacturing techniques for the construction of the actuator are discussed. Kinematics and working principle of the actuator are analyzed. The actuator model is simulated on the physical implementation for dynamics and control for different conditions. Simulation results prove satisfactory performances of the design. Then, advantages of the design over its existing counterparts are discussed, and its potential applications and future extensions are mentioned.

scholarly journals Design and Preliminary Results of a Reaction Force Series Elastic Actuator for Bionic Ankle Prostheses

2019 ◽  
Author(s):  
Matt Carney ◽  
Tony Shu ◽  
Roman Stolyarov ◽  
Jean-Francois Duval ◽  
Hugh Herr
Keyword(s):  
Energy Storage ◽  
Mechanical Design ◽  
Mechanical Energy ◽  
Reaction Force ◽  
Electrical Energy ◽  
Peak Torque ◽  
Walking Gait ◽  
Series Elastic Actuator ◽  
Hardware Specification ◽  
Series Elastic

The TF8 actuator is an untethered, lower-extremity powered-prostheses designed to replicate biological kinetic and kinematic function of ankles. An energy optimal hardware specification was found by kinematically clamping walking gait data to the dynamic model of a series elastic actuator (SEA). We searched for a minimal electrical energy configuration of motor, reduction ratio, and spring, subject to specified constraints and ultimately discretely available components. The outcome translated into a mechanical design that heavily weighted the importance of mechanical energy storage in springs. The resulting design is a moment-coupled cantilever-beam reaction-force SEA (RFSEA) that has a nominal torque rating of 85Nm, peak torque of 175Nm, 105 degree range of motion, and a hardware mass of 1.6kg.

Mechanical design and evaluation of an actuator and a simulator for trans-tibial and trans-femoral prostheses

2021 ◽  
pp. 095440622110369
Author(s):  
Akin Oguz Kapti ◽  
Ahmet Karaca
Keyword(s):  
Mechanical Design ◽  
Air Pressure ◽  
Experimental Results ◽  
Position Tracking ◽  
Good Position ◽  
Series Elastic Actuator ◽  
Orthopedic Disabilities ◽  
Assistive Systems ◽  
Series Elastic

This study proposes a joint simulator to evaluate new prosthesis designs prior to patient trials to minimize the inconveniences encountered in prosthesis applications for amputees. Design and prototype manufacturing of a force-controlled series elastic actuator was realized. In addition, actively controlled trans-tibial and trans-femoral amputation prostheses were designed by utilizing this actuator. A pneumatic joint simulator consisting of a proportional air pressure valve was also designed and manufactured. The experimental results demonstrated that good position tracking performances and effective assistive forces under the simulated walking conditions were achieved. The developed systems have the potential to contribute to the improvement of inadequate features of passive prostheses and to the development of new assistive systems that better respond to the needs of people with orthopedic disabilities.

Design and simulation analysis of impact-resistant flexible drill pipe for rock-breaking rig

2021 ◽  
pp. 095745652110307
Author(s):  
Kangping Gao ◽  
Xinxin Xu ◽  
Ning Shi ◽  
Shengjie Jiao
Keyword(s):  
Impact Force ◽  
Drill Pipe ◽  
Rock Breaking ◽  
Control Model ◽  
Simulation Software ◽  
System Stability ◽  
Series Elastic Actuator ◽  
Pipe Model ◽  
The Impact ◽  
Series Elastic

In the process of drilling and coring by the rock-breaking rig, the drill rod is affected by the intermittent impact force, which reduces the efficiency of the rig to break the rock and increases the cost of the drilling and coring. Therefore, it is very important to improve the impact resistance of the drill pipe during the rock-breaking process. To achieve this goal, a flexible design of the drill pipe was carried out, and a dynamical model of the drilling rig based on a series elastic actuator was established. Considering the dynamic performance of the system, a torque feedforward link is introduced and a control model based on the force source is established. The influence of the equivalent inertia of the transmission system and the series elastic actuator damping coefficient on the system stability was analyzed by drawing the frequency domain characteristic curve of the system. By using the control and Simulink simulation software, the electromechanical simulation of the model is carried out, and the torque step tracking response of the system is obtained. A torque feedforward link is introduced to establish the control model of the system based on force source. Through dynamic simulation software ADAMS, dynamic and static impact simulation experiments were carried out on the system. The results show that when a force of 200 N is applied to the output end of the drill pipe in the tangential direction, the maximum moments received by the joint under static and dynamic environments are 34.1 N·m and 57.9 N·m, respectively. When the impact force disappears, the time required for the flexible drill pipe to reach a stable state is only 0.15 s, which verifies that the series elastic actuator–based drill pipe model can alleviate the impact of the external environment and protect the internal structure of the rig.

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