设计具有持续可调整的平衡平衡位置的平行 Elatic 启动器 (Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position)

from arxiv, This work has been submitted to the IEEE International Conference on Robotics and Automation 2023 for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required.

翻译：在本文中,我们提出了一个可调节的平衡平行弹性活化器(AE-PEA)。动画器包括一个发动机、一个平衡调整机制,一个弹簧被安排成一个圆柱形几何学,类似于发动机电池组装。动画器的新组成部分是平衡调整机制,它(一) 即使弹簧变形,也不需要外部能源来保持动画器的平衡位置;(二) 通过旋转弹簧,同时保持其不变形,使低能量控制平衡位置。可调整平衡平行弹性活动器(PEAs)解决平行弹性活动器(PEAs)的主要限制,办法是在不同平衡位置上进行节能操作,而不是局限于单一平衡位置的节能操作。我们预见到在工业机器人、移动机器人、外骨质素和假体中使用AE-PEAs,在这些位置需要高效的血管运动和重力补偿。