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Shu, Anton Leonhard and Raschel, Clara Maria and Keppler, Manuel and Wedler, Armin and Görner, Martin (2024) Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators. IEEE Transactions on Robotics, 40, pp. 3657-3675. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2024.3422049. ISSN 1552-3098.
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Official URL: https://ieeexplore.ieee.org/document/10582442/
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/205476/ | ||||||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||||||
| Additional Information: | Gefördert durch die Helmholzgemeindschaft im Programm iFOODis KA-HSC-06. | ||||||||||||||||||||||||
| Title: | Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators | ||||||||||||||||||||||||
| Authors: |
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| Date: | 2 July 2024 | ||||||||||||||||||||||||
| Journal or Publication Title: | IEEE Transactions on Robotics | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||
| Volume: | 40 | ||||||||||||||||||||||||
| DOI: | 10.1109/TRO.2024.3422049 | ||||||||||||||||||||||||
| Page Range: | pp. 3657-3675 | ||||||||||||||||||||||||
| Editors: |
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| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 1552-3098 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | Torque, Actuators, Robustness, Springs, Bandwidth, Shafts, Gears, Compliant Joint/Mechanism, Mechanism Design, Compliance and Impedance Control, Differential Elastic Actuator | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Project MOREX, R - Walking robots/locomotion, R - Basic technologies | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||||||
| Deposited By: | Shu, Anton Leonhard | ||||||||||||||||||||||||
| Deposited On: | 24 Jul 2024 17:31 | ||||||||||||||||||||||||
| Last Modified: | 09 Sep 2024 16:05 |
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- Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators. (deposited 24 Jul 2024 17:31) [Currently Displayed]
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