Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators

Glenn Mathijssen; Raphaël Furnemont; Tom Verstraten; Dirk Lefeber; Bram Vanderborght

doi:10.1109/ICRA.2015.7139278

Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators

Glenn Mathijssen, Raphaël Furnemont, Tom Verstraten, Dirk Lefeber, Bram Vanderborght

Applied Mechanics

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

17 Citations (Scopus)

656 Downloads (Pure)

Abstract

Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a self-closing intermittent mechanism, to reduce motor load and improve energy efficiency. However, the mechanism only allowed for 4 parallel springs and a limited equilibrium angle range, which limits the variable load cancellation and operation range. Therefore, we developed a novel cylindrical cam mechanism for unlimited spring recruitment. This paper describes and validates the working principle of the cylindrical cam mechanism. Furthermore, the latest MACCEPA-based SPEA is presented with a maximum output torque of 40Nm and variable stiffness. Additive and traditional manufacturing techniques go hand in hand to overcome the actuator's complexity. The experiments endorse the working principle, demonstrate the variable stiffness, and prove the motor torque can be reduced to 5Nm while an output torque of 40Nm can be achieved.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication	Washington
Pages	857-862
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2015.7139278
Publication status	Published - 30 May 2015
Event	2015 IEEE International Conference on Robotics and Automation (ICRA) - Seattle, WA, United States Duration: 25 May 2015 → 30 May 2015

Conference

Conference	2015 IEEE International Conference on Robotics and Automation (ICRA)
Country/Territory	United States
City	Seattle, WA
Period	25/05/15 → 30/05/15

Keywords

Compliant actuation
Energy efficiency
Intermittent mechanism
Novel actuators

Access to Document

10.1109/ICRA.2015.7139278

201507 Glenn_Mathijssen_ICRA_2015_finalversion
(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Accepted author manuscript, 614 KB

FWOTM728: Study on the fundamentals of Series-Parallel Elastic Actuation (SPEA) for robotics.
Mathijssen, G., Vanderborght, B. & Lefeber, D.
1/10/14 → 30/09/18
Project: Fundamental

Cite this

@inproceedings{46c71080bc534d6da83518b60cf2aa20,

title = "Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators",

abstract = "Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a self-closing intermittent mechanism, to reduce motor load and improve energy efficiency. However, the mechanism only allowed for 4 parallel springs and a limited equilibrium angle range, which limits the variable load cancellation and operation range. Therefore, we developed a novel cylindrical cam mechanism for unlimited spring recruitment. This paper describes and validates the working principle of the cylindrical cam mechanism. Furthermore, the latest MACCEPA-based SPEA is presented with a maximum output torque of 40Nm and variable stiffness. Additive and traditional manufacturing techniques go hand in hand to overcome the actuator's complexity. The experiments endorse the working principle, demonstrate the variable stiffness, and prove the motor torque can be reduced to 5Nm while an output torque of 40Nm can be achieved.",

keywords = "Compliant actuation, Energy efficiency, Intermittent mechanism, Novel actuators",

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year = "2015",

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doi = "10.1109/ICRA.2015.7139278",

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note = "2015 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 25-05-2015 Through 30-05-2015",

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Mathijssen, G, Furnemont, R , Verstraten, T , Lefeber, D & Vanderborght, B 2015, Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators. in 2015 IEEE International Conference on Robotics and Automation (ICRA). Washington, pp. 857-862, 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, United States, 25/05/15. https://doi.org/10.1109/ICRA.2015.7139278

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T1 - Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators

AU - Mathijssen, Glenn

AU - Furnemont, Raphaël

AU - Verstraten, Tom

AU - Lefeber, Dirk

AU - Vanderborght, Bram

PY - 2015/5/30

Y1 - 2015/5/30

N2 - Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a self-closing intermittent mechanism, to reduce motor load and improve energy efficiency. However, the mechanism only allowed for 4 parallel springs and a limited equilibrium angle range, which limits the variable load cancellation and operation range. Therefore, we developed a novel cylindrical cam mechanism for unlimited spring recruitment. This paper describes and validates the working principle of the cylindrical cam mechanism. Furthermore, the latest MACCEPA-based SPEA is presented with a maximum output torque of 40Nm and variable stiffness. Additive and traditional manufacturing techniques go hand in hand to overcome the actuator's complexity. The experiments endorse the working principle, demonstrate the variable stiffness, and prove the motor torque can be reduced to 5Nm while an output torque of 40Nm can be achieved.

AB - Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a self-closing intermittent mechanism, to reduce motor load and improve energy efficiency. However, the mechanism only allowed for 4 parallel springs and a limited equilibrium angle range, which limits the variable load cancellation and operation range. Therefore, we developed a novel cylindrical cam mechanism for unlimited spring recruitment. This paper describes and validates the working principle of the cylindrical cam mechanism. Furthermore, the latest MACCEPA-based SPEA is presented with a maximum output torque of 40Nm and variable stiffness. Additive and traditional manufacturing techniques go hand in hand to overcome the actuator's complexity. The experiments endorse the working principle, demonstrate the variable stiffness, and prove the motor torque can be reduced to 5Nm while an output torque of 40Nm can be achieved.

KW - Compliant actuation

KW - Energy efficiency

KW - Intermittent mechanism

KW - Novel actuators

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DO - 10.1109/ICRA.2015.7139278

M3 - Conference paper

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BT - 2015 IEEE International Conference on Robotics and Automation (ICRA)

CY - Washington

T2 - 2015 IEEE International Conference on Robotics and Automation (ICRA)

Y2 - 25 May 2015 through 30 May 2015

ER -

Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators

Abstract

Conference

Keywords

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Projects

FWOTM728: Study on the fundamentals of Series-Parallel Elastic Actuation (SPEA) for robotics.

Cite this