TY - GEN
T1 - High-Power and Precise Actuation System with Direct Drive and Variable Structured Elasticity
AU - Abe, Yoshitaka
AU - Almeev, Timur
AU - Yi, Jingang
AU - Katsura, Seiichiro
N1 - Funding Information:
This work was partially supported by JSPS KAKENHI Grant Number 18H03784.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/24
Y1 - 2019/5/24
N2 - Variable-structured elastic actuator is researched as an actuator which enables high speed motion. In the conventional research, the actuation method has two periods. The first is charging period: elastic potential energy is charged by the geared motor with clutching. The second is releasing period: the clutch is disengaged and high-speed motion is attained in load side. However, it is difficult to attain the high-speed motion precisely because it is impossible to control the motion in the releasing period. This paper proposes an integrated actuation system which is composed of the elastic actuator and a direct-drive motor. The direct-drive motor is attached to the load side of the elastic actuator. Actuation method of the proposed actuator system also has two periods: charging period and releasing period. In the charging period, the actuator system stores potential energy like the conventional method. In the releasing period, the direct-drive motor controls the motion precisely while the clutch is disengaged. Performance of the proposed actuator system is compared with the conventional system through experiments.
AB - Variable-structured elastic actuator is researched as an actuator which enables high speed motion. In the conventional research, the actuation method has two periods. The first is charging period: elastic potential energy is charged by the geared motor with clutching. The second is releasing period: the clutch is disengaged and high-speed motion is attained in load side. However, it is difficult to attain the high-speed motion precisely because it is impossible to control the motion in the releasing period. This paper proposes an integrated actuation system which is composed of the elastic actuator and a direct-drive motor. The direct-drive motor is attached to the load side of the elastic actuator. Actuation method of the proposed actuator system also has two periods: charging period and releasing period. In the charging period, the actuator system stores potential energy like the conventional method. In the releasing period, the direct-drive motor controls the motion precisely while the clutch is disengaged. Performance of the proposed actuator system is compared with the conventional system through experiments.
KW - clutched elastic actuator
KW - elastic actuator
KW - motion control
UR - http://www.scopus.com/inward/record.url?scp=85067108921&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85067108921&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2019.8722861
DO - 10.1109/ICMECH.2019.8722861
M3 - Conference contribution
AN - SCOPUS:85067108921
T3 - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
SP - 396
EP - 401
BT - Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019
Y2 - 18 March 2019 through 20 March 2019
ER -