补偿(心理学)
执行机构
扭矩
控制理论(社会学)
系列(地层学)
弹簧(装置)
计算机科学
万有引力
串并联电路
控制工程
工程类
机械工程
物理
电气工程
控制(管理)
人工智能
经典力学
地质学
电压
古生物学
精神分析
热力学
心理学
作者
Raphaël Furnémont,Glenn Mathijssen,Tom Verstraten,Bram Vanderborght,Dirk Lefeber
出处
期刊:Mechanisms and machine science
日期:2022-01-01
卷期号:: 101-123
标识
DOI:10.1007/978-3-030-95750-6_4
摘要
In several applications, the gravitational load is dominant and requires high torque or force from the actuation. This load can be reduced using gravity compensaters which can provide a counter-torque/force passively. For applications with several degrees of freedom, providing perfect compensation can be extremely challenging and thus methods to provide partial compensation are used. The Series-Parallel Elastic Actuators use compliant elements, placed in series and parallel which can be tensioned separately. Through this recruitment, they can provide partial gravity compensation for complex tasks. Two Series parallel Elastic Actuators will be presented: the iSPEA which combines one motor which can recruit an arbitrary number of springs and the +SPEA which uses several units composed of a motor and a spring. It will be shown that both actuators can reduce the peak and RMS value of the actuation torque through partial gravity compensation.
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