A switchable clutched parallel elasticity actuator
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Pages
1173-1178
Date Issued
2017
Author(s)
Abstract
We report on the development of a novel switchable clutched parallel elastic actuator (SCPEA), which is composed of active components, such as a brake and clutch, as well as passive components, such as a ratchet and one-way bearing. The proposed SCPEA can actively control the storing, preserving, and releasing of the spring potential energy to and from the input motor even when the motor is in operation, and it provides energy/torque to the output, thereby achieving the power/torque modulation of the actuator. Moreover, the controllability of the SCPEA allows the energy transfer between the motor and the spring to be planned in consideration of the energy efficiency, avoiding the motor to be operated in the low efficiency region where large amount of joule heat is produced. The proposed SCPEA is built and its performance is experimentally validated. © 2017 IEEE.
Subjects
Clutch; Energy efficiency; Mechanism; Parallel elastic actuator; Spring
SDGs
Other Subjects
Actuators; Clutches; Energy transfer; Intelligent mechatronics; Mechanisms; Potential energy; Springs (components); Active components; Elastic actuators; Large amounts; Switchable; Energy efficiency
Type
conference paper