论文标题
具有连续可调的平衡位置的平行弹性执行器的设计
Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position
论文作者
论文摘要
在本文中，我们提出了可调平衡的平行弹性执行器（AE-PEA）。执行器由电动机，平衡调节机构和排列成圆柱几何形状的弹簧组成，类似于电动机盒组件。执行器的新成分是平衡调节机制，即使（i）不需要外部能量即使弹簧变形，也不需要外部能量来维持执行器的平衡位置，并且（ii）（ii）通过旋转弹簧旋转而保持低能控制，同时保持其不符合弹簧的状态。可调平行的平行弹性执行器通过在不同平衡位置启用节能操作来解决平行弹性执行器（豌豆）的主要局限性，而不是仅限于在单个平衡位置下的能量有效操作。我们预计需要在工业机器人，移动机器人，外骨骼和假体中使用AE-PEAS，在该机器人，移动机器人，外骨骼和假体中，需要在不同位置进行有效的振荡运动和重力补偿。
In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required.
