Shu, Anton Leonhard und Raschel, Clara Maria und Keppler, Manuel und Wedler, Armin und Görner, Martin (2024) Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators. IEEE Transactions on Robotics, 40, Seiten 3657-3675. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2024.3422049. ISSN 1552-3098.
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Offizielle URL: https://ieeexplore.ieee.org/document/10582442/
Kurzfassung
Differential Elastic Actuators (DEAs) connect a motor and a spring via differential gears to a shared output shaft, offering a more compact solution for creating mechanically robust systems than Series Elastic Actuators (SEAs), with superior torque transmission at high frequencies. The key to maximizing DEA performance lies in the careful selection of stiffness, inertia, and damping values to meet specific requirements for performance and durability. We introduce a DEA design guide that utilizes open-loop torque-bandwidth for performance evaluation and the magnitude of impact-induced gear torque for robustness evaluation. This approach enables determining DEA parameters using closed-form equations, eliminating the need for simulations or extensive expert knowledge. The effectiveness of our method is confirmed through experiments with a re-configurable DEA prototype.
elib-URL des Eintrags: | https://elib.dlr.de/205476/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Zusätzliche Informationen: | Gefördert durch die Helmholzgemeindschaft im Programm iFOODis KA-HSC-06. | ||||||||||||||||||||||||
Titel: | Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2 Juli 2024 | ||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Robotics | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 40 | ||||||||||||||||||||||||
DOI: | 10.1109/TRO.2024.3422049 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 3657-3675 | ||||||||||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Torque, Actuators, Robustness, Springs, Bandwidth, Shafts, Gears, Compliant Joint/Mechanism, Mechanism Design, Compliance and Impedance Control, Differential Elastic Actuator | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt MOREX, R - Laufroboter/Lokomotion, R - Basistechnologien | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Shu, Anton Leonhard | ||||||||||||||||||||||||
Hinterlegt am: | 24 Jul 2024 17:31 | ||||||||||||||||||||||||
Letzte Änderung: | 09 Sep 2024 16:05 |
Verfügbare Versionen dieses Eintrags
- Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators. (deposited 24 Jul 2024 17:31) [Gegenwärtig angezeigt]
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