Design of a novel intermittent self-closing mechanism for a MACCEPA-based Series-Parallel Elastic Actuator (SPEA)

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Abstract

High-performance actuators are required for numerous novel applications such as human-robot assistive devices. The torque-to-weight ratio and energy efficiency of current actuation technology is often too low, which limits the performance of novel robots. Therefore, we developed a Series-Parallel Elastic Actuator (SPEA) which enables variable recruitment of parallel springs and variable load cancellation. Finding suitable intermittent mechanisms for the SPEA is however still challenging. This paper reports on the innovative design of an intermittent self-closing mechanism for a MACCEPA-based SPEA that can deliver bi-directional output torque and variable stiffness, while minimizing friction levels. Experiments on a one-layer intermittent self-closing mechanism are conducted to validate the working principle and the proposed model. A demonstrator of the MACCEPA-based SPEA with intermittent self-closing mechanism is presented and the experiments validate the modeled output torque and lowered motor torque for different stiffness settings.
Original languageEnglish
Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
PublisherIEEE
Pages2809-2814
ISBN (Electronic)9781479969357
DOIs
Publication statusPublished - 14 Sep 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) - Chicago, United States
Duration: 14 Sep 201518 Sep 2015

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Country/TerritoryUnited States
CityChicago
Period14/09/1518/09/15

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