期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 19, 期 3, 页码 1080-1091出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2013.2270435
关键词
Actuator design; force control; series elastic actuators
This paper discusses design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor. A design is introduced that pushes the performance boundary of electric series elastic actuators by using high motor voltage coupled with an efficient drivetrain to enable large continuous actuator force while retaining speed. Compact size is achieved through the use of a novel piston-style ball screw support mechanism and a concentric compliant element. Generic models for two common series elastic actuator configurations are introduced and compared. These models are then used to develop controllers for force and position tracking based on combinations of PID, model-based, and disturbance observer control structures. Finally, our actuator's performance is demonstrated through a series of experiments designed to operate the actuator at the limits of its mechanical and control capability.
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