Coupled elastic actuation development for robots as an intrinsic compromise between performance and safety
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Pages
445-450
Date Issued
2009
Author(s)
Abstract
Up to now, most of robotic systems, consisting of rigid links, electrical servo actuators, tough covers, high-ratio reduction devices, and position sensors, hardly interact with people and environments under safety constraints or move slowly with careful motion planning results with multiple control strategies. This paper proposes a new actuation approach, coupled elastic actuation (CEA), to provide oncoming robots an intrinsic compromise between performance and safety in unstructured environments. One possible prototype of a 1-DOF coupled elastic actuator with adjustable characteristics adaptive to the applied output force and input force is designed to provide a favorable solution to reach a compromise between performance and safety by a Torque Switch mechanism. Both simulations and experiments are presented to show the desired properties of the CEA systems.
SDGs
Type
conference paper