+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

doi:10.1109/ICRA.2016.7487193

+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

Onderzoeksoutput: Conference paper › Research

31 Citaten (Scopus)

397 Downloads (Pure)

Samenvatting

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.

Originele taal-2	English
Titel	IEEE International Conference on Robotics and Automation (ICRA)
Plaats van productie	Stockholm, Sweden
Uitgeverij	IEEE
Pagina's	676-681
Aantal pagina's	6
DOI's	https://doi.org/10.1109/ICRA.2016.7487193
Status	Published - 16 mei 2016
Evenement	IEEE International Conference on Robotics and Automation (ICRA) - Stockholm, Sweden Duur: 16 mei 2016 → 21 mei 2016

Conference

Conference	IEEE International Conference on Robotics and Automation (ICRA)
Land/Regio	Sweden
Stad	Stockholm
Periode	16/05/16 → 21/05/16

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10.1109/ICRA.2016.7487193

201604 +spea
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Accepted author manuscript, 2,37 MB

Citeer dit

Mathijssen, G., Furnémont, R., Verstraten, T., Brackx, B., Premec, J., Jimenez Fabian, R. E., Lefeber, D., & Vanderborght, B. (2016). +SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms. In IEEE International Conference on Robotics and Automation (ICRA) (blz. 676-681). IEEE. https://doi.org/10.1109/ICRA.2016.7487193

Mathijssen, Glenn ; Furnémont, Raphaël ; Verstraten, Tom ; Brackx, Branko ; Premec, Jasmina ; Jimenez Fabian, Rene Enrique ; Lefeber, Dirk ; Vanderborght, Bram. / +SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms. IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden : IEEE, 2016. blz. 676-681

@inproceedings{7105b42b9ca846238d26e24ea1ddd897,

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

abstract = "Modern actuation schematics become increasinglyingenious by deploying springs and locking mechanisms inseries and/or parallel. Many of these solutions are, however,tailored for a specific application and a general schematic thatallows for drastic energy reduction remains a challenge. Wehave developed a series-parallel elastic actuator (SPEA) basedon a symbiosis of multiple motors, springs and locking mechanismsin parallel, which we call +SPEA. This paper introducesthe novel +SPEA concept. We present a first prototype, a+SPEA model and a control strategy that optimizes the energyconsumption, and experiments to verify the working principleand recruitment strategy. The experiments show a good fitwith the model and currently the actuator reduces the requiredenergy in blocked output experiments by more than a factor 4.",

author = "Glenn Mathijssen and Rapha{\"e}l Furn{\'e}mont and Tom Verstraten and Branko Brackx and Jasmina Premec and {Jimenez Fabian}, {Rene Enrique} and Dirk Lefeber and Bram Vanderborght",

year = "2016",

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doi = "10.1109/ICRA.2016.7487193",

language = "English",

pages = "676--681",

booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

note = "IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 16-05-2016 Through 21-05-2016",

}

Mathijssen, G , Furnémont, R , Verstraten, T, Brackx, B, Premec, J, Jimenez Fabian, RE, Lefeber, D & Vanderborght, B 2016, +SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms. in IEEE International Conference on Robotics and Automation (ICRA). IEEE, Stockholm, Sweden, blz. 676-681, IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16/05/16. https://doi.org/10.1109/ICRA.2016.7487193

+SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms. / Mathijssen, Glenn ; Furnémont, Raphaël ; Verstraten, Tom; Brackx, Branko; Premec, Jasmina; Jimenez Fabian, Rene Enrique; Lefeber, Dirk ; Vanderborght, Bram.

IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden : IEEE, 2016. blz. 676-681.

Onderzoeksoutput: Conference paper › Research

TY - GEN

T1 - +SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms

AU - Mathijssen, Glenn

AU - Furnémont, Raphaël

AU - Verstraten, Tom

AU - Brackx, Branko

AU - Premec, Jasmina

AU - Jimenez Fabian, Rene Enrique

AU - Lefeber, Dirk

AU - Vanderborght, Bram

PY - 2016/5/16

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N2 - Modern actuation schematics become increasinglyingenious by deploying springs and locking mechanisms inseries and/or parallel. Many of these solutions are, however,tailored for a specific application and a general schematic thatallows for drastic energy reduction remains a challenge. Wehave developed a series-parallel elastic actuator (SPEA) basedon a symbiosis of multiple motors, springs and locking mechanismsin parallel, which we call +SPEA. This paper introducesthe novel +SPEA concept. We present a first prototype, a+SPEA model and a control strategy that optimizes the energyconsumption, and experiments to verify the working principleand recruitment strategy. The experiments show a good fitwith the model and currently the actuator reduces the requiredenergy in blocked output experiments by more than a factor 4.

AB - Modern actuation schematics become increasinglyingenious by deploying springs and locking mechanisms inseries and/or parallel. Many of these solutions are, however,tailored for a specific application and a general schematic thatallows for drastic energy reduction remains a challenge. Wehave developed a series-parallel elastic actuator (SPEA) basedon a symbiosis of multiple motors, springs and locking mechanismsin parallel, which we call +SPEA. This paper introducesthe novel +SPEA concept. We present a first prototype, a+SPEA model and a control strategy that optimizes the energyconsumption, and experiments to verify the working principleand recruitment strategy. The experiments show a good fitwith the model and currently the actuator reduces the requiredenergy in blocked output experiments by more than a factor 4.

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PB - IEEE

CY - Stockholm, Sweden

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

Y2 - 16 May 2016 through 21 May 2016

ER -

Mathijssen G , Furnémont R , Verstraten T, Brackx B, Premec J, Jimenez Fabian RE et al. +SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms. In IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden: IEEE. 2016. blz. 676-681 https://doi.org/10.1109/ICRA.2016.7487193

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

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