+SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms

Glenn Mathijssen, Raphaël Furnémont, Tom Verstraten, Branko Brackx, Jasmina Premec, Rene Enrique Jimenez Fabian, Dirk Lefeber, Bram Vanderborght

Research output: Chapter in Book/Report/Conference proceedingConference paper

19 Citations (Scopus)
166 Downloads (Pure)

Abstract

Modern actuation schematics become increasingly
ingenious by deploying springs and locking mechanisms in
series and/or parallel. Many of these solutions are, however,
tailored for a specific application and a general schematic that
allows for drastic energy reduction remains a challenge. We
have developed a series-parallel elastic actuator (SPEA) based
on a symbiosis of multiple motors, springs and locking mechanisms
in parallel, which we call +SPEA. This paper introduces
the novel +SPEA concept. We present a first prototype, a
+SPEA model and a control strategy that optimizes the energy
consumption, and experiments to verify the working principle
and recruitment strategy. The experiments show a good fit
with the model and currently the actuator reduces the required
energy in blocked output experiments by more than a factor 4.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationStockholm, Sweden
PublisherIEEE
Pages676-681
Number of pages6
DOIs
Publication statusPublished - 16 May 2016
EventIEEE International Conference on Robotics and Automation (ICRA) - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Conference

ConferenceIEEE International Conference on Robotics and Automation (ICRA)
CountrySweden
CityStockholm
Period16/05/1621/05/16

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