Design and Control Considerations for High-Performance Series Elastic Actuators

2014 ◽  
Vol 19 (3) ◽  
pp. 1080-1091 ◽  
Author(s):  
Nicholas Paine ◽  
Sehoon Oh ◽  
Luis Sentis
Keyword(s):  
High Performance ◽  
Series Elastic Actuators ◽  
And Control ◽  
Series Elastic

Modeling and Control of Nonlinear Series Elastic Actuator

2007 ◽  
Author(s):  
Ehsan Basafa ◽  
Hassan Salarieh ◽  
Aria Alasty
Keyword(s):  
Nonlinear Models ◽  
Human Gait ◽  
Output Impedance ◽  
Modeling And Control ◽  
Series Elastic Actuator ◽  
Scheduling Method ◽  
Normal Human ◽  
Series Elastic Actuators ◽  
And Control ◽  
Series Elastic

Series Elastic Actuators are force actuators with applications in robotics and biomechanics. In linear Series Elastic Actuators, a large force bandwidth requires a stiff sensor (spring), but the output impedance puts an upper limit on this parameter, therefore selecting the proper spring is difficult in these actuators. In this paper, Series Elastic Actuator is modeled with a nonlinear, stiffening spring and controlled using the Gain Scheduling method. Simulations show that both linear and nonlinear models have similar force bandwidths, but the nonlinear one shows much lower output impedance. Hence, the choice of spring for actuator design is an easier task than that of the linear model. Also, as a force-augmenting device for the knee joint in normal human gait, the nonlinear model acts better in simulations.

scholarly journals Design, Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 6 ◽  
Author(s):  
José de Gea Fernández ◽  
Bingbin Yu ◽  
Vinzenz Bargsten ◽  
Michael Zipper ◽  
Holger Sprengel
Keyword(s):  
Industrial Robots ◽  
Data Driven ◽  
User Needs ◽  
End User ◽  
Different Types ◽  
Series Elastic Actuators ◽  
And Control ◽  
Collaborative Robot ◽  
Modelling Methods ◽  
Series Elastic

This paper describes data-driven modelling methods and their use for the control of a novel set of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill the end-user needs for tailored industrial collaborative robot manipulators of different morphologies and payloads. Three different types of elastic actuation were investigated, namely, disc springs, coil springs and torsion bars. The developed algorithms were validated both on single actuators and on a 6-DOF robotic arm composed of such actuators.

Modeling and Control of Four-bar Mechanism with Series Elastic Actuators

2020 ◽  
Author(s):  
Felipe R. Lopes ◽  
Marco A. Meggiolaro
Keyword(s):  
Human Interaction ◽  
Robotic Manipulation ◽  
Modeling And Control ◽  
Lqr Control ◽  
In Series ◽  
Flexible Behavior ◽  
Series Elastic Actuators ◽  
New Generation ◽  
And Control ◽  
Series Elastic

A new generation of robots that work in cooperation with humans (called collaborative robots) needs some flexibility to adapt to the environment and activities with people. That is why the Series Elastic Actuator (SEA) has been a breakthrough in actuator technologies. The idea of inserting an elastic element in series with a motor allows a lower output impedance, consequently a flexible behavior in the manipulator, in addition to providing torque feedback to better compensate disturbances caused e.g. by friction losses. This article presents a four-bar mechanism with SEA for the purpose of robotic manipulation. Its kinematics and dynamicsare studied, as well as its regulation and trajectory control. The behavior of the decoupled four-bar mechanism and the characteristics of the SEA are also analyzed. Then the regulation control of the complete system is carried out using LQR control. Finally, a circular trajectory is controlled in a simulation to validate the proposed control strategy. The simulation results show the effectiveness of the proposed controller for the mechanism in the presence of SEAs estimating torque and providing the desired compliance for human interaction.

scholarly journals Multistable series elastic actuators: Design and control

2019 ◽  
Vol 118 ◽  
pp. 167-178
Author(s):  
Leonardo Cappello ◽  
Michele Xiloyannis ◽  
Binh Khanh Dinh ◽  
Alberto Pirrera ◽  
Filippo Mattioni ◽  
...  
Keyword(s):  
Series Elastic Actuators ◽  
And Control ◽  
Series Elastic

scholarly journals Reduction of Polycyclic Aromatic Hydrocarbons (PAHs) in Sesame Oil Using Cellulosic Aerogel

Foods ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 644
Author(s):  
Do-Yeong Kim ◽  
Boram Kim ◽  
Han-Seung Shin
Keyword(s):  
Polycyclic Aromatic Hydrocarbons ◽  
Aromatic Hydrocarbons ◽  
High Performance ◽  
Oil Quality ◽  
Acid Value ◽  
Quality Parameters ◽  
Sesame Oil ◽  
Miscanthus Sinensis ◽  
Polycyclic Aromatic ◽  
And Control

The effect of cellulosic aerogel treatments used for adsorption of four polycyclic aromatic hydrocarbons (PAHs)—benzo[a]anthracene, chrysene, benzo[b]fluoranthene, and benzo[a]pyrene [BaP])—generated during the manufacture of sesame oil was evaluated. In this study, eulalia (Miscanthus sinensis var. purpurascens)-based cellulosic aerogel (adsorbent) was prepared and used high performance liquid chromatography with fluorescence detection for determination of PAHs in sesame oil. In addition, changes in the sesame oil quality parameters (acid value, peroxide value, color, and fatty acid composition) following cellulosic aerogel treatment were also evaluated. The four PAHs and their total levels decreased in sesame oil samples roasted under different conditions (p < 0.05) following treatment with cellulosic aerogel. In particular, highly carcinogenic BaP was not detected after treatment with cellulosic aerogel. Moreover, there were no noticeable quality changes in the quality parameters between treated and control samples. It was concluded that eulalia-based cellulosic aerogel proved suitable for the reduction of PAHs from sesame oil and can be used as an eco-friendly adsorbent.

Hopping frequency influences elastic energy reuse with joint series elastic actuators

2021 ◽  
Vol 119 ◽  
pp. 110319
Author(s):  
A. Mohammadi Nejad Rashty ◽  
M. Grimmer ◽  
A. Seyfarth
Keyword(s):  
Elastic Energy ◽  
Series Elastic Actuators ◽  
Series Elastic

Advanced high-performance processing tools for diagnostics and control in fusion devices

2021 ◽  
Vol 170 ◽  
pp. 112529
Author(s):  
N. Cruz ◽  
A.J.N. Batista ◽  
J.M. Cardoso ◽  
B.B. Carvalho ◽  
P.F. Carvalho ◽  
...  
Keyword(s):  
High Performance ◽  
Diagnostics And Control ◽  
And Control

scholarly journals Detection of Antimicrobial Residues in Poultry Litter: Monitoring a Risk through a Selective and Sensitive HPLC–MS/MS Method

Animals ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 1399
Author(s):  
Karina Yévenes ◽  
Ekaterina Pokrant ◽  
Lina Trincado ◽  
Lisette Lapierre ◽  
Nicolás Galarce ◽  
...  
Keyword(s):  
High Performance ◽  
Limit Of Detection ◽  
Poultry Litter ◽  
Chromatography Tandem Mass Spectrometry ◽  
Antimicrobial Residues ◽  
Field Samples ◽  
Liquid Chromatography Tandem Mass ◽  
Commercial Poultry ◽  
Agriculture Fertilizer ◽  
And Control

Tetracyclines, sulphonamides, and quinolones are families of antimicrobials (AMs) widely used in the poultry industry and can excrete up to 90% of AMs administrated, which accumulate in poultry litter. Worryingly, poultry litter is widely used as an agriculture fertilizer, contributing to the spread AMs residues in the environment. The aim of this research was to develop a method that could simultaneously identify and quantify three AMs families in poultry litter by high-performance liquid chromatography–tandem mass spectrometry (HPLC–MS/MS). Samples of AMs free poultry litter were used to validate the method according to 657/2002/EC and VICH GL49. Results indicate that limit of detection (LOD) ranged from 8.95 to 20.86 μg kg−1, while limits of quantitation (LOQ) values were between 26.85 and 62.58 µg kg−1 of tetracycline, 4-epi-tetracycline, oxytetracycline, 4-epi-oxytetracycline, enrofloxacin, ciprofloxacin, flumequine, sulfachloropyridazine, and sulfadiazine. Recoveries obtained ranged from 93 to 108%. The analysis of field samples obtained from seven commercial poultry flocks confirmed the adequacy of the method since it detected means concentrations ranging from 20 to 10,364 μg kg−1. This provides us an accurate and reliable tool to monitor AMs residues in poultry litter and control its use as agricultural fertilizer.

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