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Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements
- Source :
- 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 166-173, STARTPAGE=166;ENDPAGE=173;TITLE=2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
- Publication Year :
- 2022
- Publisher :
- IEEE, 2022.
-
Abstract
- We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.
Details
- Database :
- OpenAIRE
- Journal :
- 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
- Accession number :
- edsair.doi.dedup.....32c520824c7792e088d32979f2dd9dda