RRLAB SEA- A Highly Integrated Compliant Actuator with Minimised Reflected Inertia

Krzysztof Mianowski , Steffen Schuetz , Christian Kotting , Atabak Nejadfard , Max Reichardt , Karsten Berns

Abstract

The Robotics Research Lab (RRLab) is currently striving to bring the Bio-inspired Behaviour-Based Bipedal Locomotion Control (B4LC) to a physical platform. Regarding the actuation, dynamic walking poses specific requirements like impact tolerance and high acceleration capabilities. A linear Series Elastic Actuator (Sea) which is designed to meet the requirements is presented. A design approach to the drivetrain which is taking the reflected motor inertia into account, is depicted in order to achieve a high acceleration capability. The resulting Sea implementation features a drivetrain based on a high pitch ball screw as a single gear reduction. This positively impacts the efficiency, the backdrivability and most importantly reduces the reflected motor inertia. Furthermore, the design features a high degree of integration to achieve a high torque density and allow for a compact integration. To exploit its full potential, the actuator is encapsulated by a dedicated FPGA-based embedded system. In open-loop experiments all unlumped dynamic quantities of the actuator are identified.
Author Krzysztof Mianowski ITLMS
Krzysztof Mianowski,,
- The Institute of Aeronautics and Applied Mechanics
, Steffen Schuetz
Steffen Schuetz,,
-
, Christian Kotting
Christian Kotting,,
-
, Atabak Nejadfard
Atabak Nejadfard,,
-
, Max Reichardt
Max Reichardt,,
-
, Karsten Berns
Karsten Berns,,
-
Pages1-7
Publication size in sheets0.5
Book Berg Jordan, Yi Jingyang (eds.): Proceedings of IEEE International Conference on Advanced Inteligent Mechatronics, AIM 2016, 2016, ISBN 978-1-5090-2064-5
Abstract in Polishavailable on-line only
DOIDOI:10.1109/AIM.2016.7576775
URL http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7576775
Languageen angielski
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