Knowledge Commons of Institute of Automation,CAS
Design and Validation of an Asymmetric Bowden-Cable-Driven Series Elastic Actuator | |
Ning Sun1,2![]() ![]() ![]() ![]() ![]() | |
2019 | |
会议名称 | International Conference on Robotics and Biomimetics |
会议日期 | 2019.12 |
会议地点 | Dali, China |
摘要 | Weight, size and torque control for hand exoskeleton robots are challenging due to lack of small and compact bidirectional torque actuators. In this paper, an asymmetric Bowden-cable-driven series elastic actuator (ABLE-SEA) for hand exoskeleton robots was proposed based on the fact that the required torques for finger movements are asymmetric. Compared to series elastic actuator and transmission system that were designed separately, the elastic elements of ABLE-SEA were placed in transmission parts to connect series elastic actuator with transmission system, which makes system compact. ABLE-SEA is 71mmX19.5mmX20mm in dimension and weighs 30g except motor which is placed remotely. The dynamic model of ABLE-SEA was established, and feedback proportional-derivative (PD) control plus a feed-forward term was used to track the reference torque for the ABLE-SEA. The reference torque tracking test at different frequencies was performed at the developed prototype. Meanwhile, the peak torque of ABLE-SEA was tested. The experimental results verified that the torque bandwidth of the proposed series elastic actuator could reach 4Hz, and the peak torque of ABLE-SEA could reach 0.3Nm, which meet the design requirement. |
收录类别 | EI |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 其他 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/49700 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Long Cheng |
作者单位 | 1.The State Key Laboratory of Management and Control for Complex Systems,Institute of Automation, Chinese Academy of Sciences 2.The University of Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Ning Sun,Long Cheng,Lin Tian,et al. Design and Validation of an Asymmetric Bowden-Cable-Driven Series Elastic Actuator[C],2019. |
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