TY - GEN
T1 - High-Speed position control of dynamic elastic actuator using elastic potential energy
AU - Miura, Kazumasa
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2016 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016/11/21
Y1 - 2016/11/21
N2 - This paper proposes a high speed position control using a new actuation structure. To realize a small-sized and highly-torque actuator, a reduction gear is usually used. So that current saturation and friction effect of the actuator exist, the actuator has the maximum acceleration and maximum revolution speed. The gear with high gear ratio reduces these two maximum values because of the reduction mechanism. As a result, it is difficult to achieve high-speed motions using the gear. In this paper, a new actuation mechanism is utilized to realize high-speed motions. The new mechanism is constructed of an electromagnetic clutch and elastic spring, and high-speed motions are achieved by releasing the clutch and transforming the accumulated elastic potential energy by the geared motor into kinetic energy. Using this new mechanism, high-speed position control is proposed in this paper. In the proposed system, the output revolution speed exceeds the maximum revolution speed that is reduced by the gear. Finally, the validity of the proposed method is verified experimentally.
AB - This paper proposes a high speed position control using a new actuation structure. To realize a small-sized and highly-torque actuator, a reduction gear is usually used. So that current saturation and friction effect of the actuator exist, the actuator has the maximum acceleration and maximum revolution speed. The gear with high gear ratio reduces these two maximum values because of the reduction mechanism. As a result, it is difficult to achieve high-speed motions using the gear. In this paper, a new actuation mechanism is utilized to realize high-speed motions. The new mechanism is constructed of an electromagnetic clutch and elastic spring, and high-speed motions are achieved by releasing the clutch and transforming the accumulated elastic potential energy by the geared motor into kinetic energy. Using this new mechanism, high-speed position control is proposed in this paper. In the proposed system, the output revolution speed exceeds the maximum revolution speed that is reduced by the gear. Finally, the validity of the proposed method is verified experimentally.
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U2 - 10.1109/EPEPEMC.2016.7752084
DO - 10.1109/EPEPEMC.2016.7752084
M3 - Conference contribution
AN - SCOPUS:85008258235
T3 - Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016
SP - 726
EP - 731
BT - Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Power Electronics and Motion Control Conference, PEMC 2016
Y2 - 25 September 2016 through 28 September 2016
ER -