Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot

Qinchen Meng; Qikai Li; Jianyin Tang; Yaobin Tian; Kun Xu; Xilun Ding

doi:10.1109/ICIEA58696.2023.10241513

Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot

Qinchen Meng^*
, Qikai Li
, Jianyin Tang
, Yaobin Tian^*
, Kun Xu
, Xilun Ding

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

The series elastic actuator (SEA) has the advantages of flexibility, safety and high energy efficiency. Compared with proprioceptive actuator, it's more suitable for heavy load legged robots. However, a SEA often has a long volume in the axial direction, which will bring trouble to the design of legged robots' structure. In this paper, a new practical hollow shaft SEA with an innovative elastic element in a thin-walled cylinder shape is proposed. Due to the great compact design and the novel shape of the elastic element, the proposed SEA is only 66 mm long axially with a peak torque of 40 Nm. To optimize the shape of the elastic element, the authors combine orthogonal experiments with finite element analysis, and also propose a variable stiffness scheme. At the same time, the dynamic model is further analyzed, and an online parameters identification method is proposed, which is helpful to improve the control capability.

源语言	英语
主期刊名	Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023
编辑	Wenjian Cai, Guilin Yang, Jun Qiu, Tingting Gao, Lijun Jiang, Tianjiang Zheng, Xinli Wang
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1792-1797
页数	6
ISBN（电子版）	9798350312201
DOI	https://doi.org/10.1109/ICIEA58696.2023.10241513
出版状态	已出版 - 2023
活动	18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 - Ningbo, 中国期限: 18 8月 2023 → 22 8月 2023

出版系列

姓名	Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

会议

会议	18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023
国家/地区	中国
市	Ningbo
时期	18/08/23 → 22/08/23

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ICIEA58696.2023.10241513

其它文件与链接

链接到 Scopus 的出版物

引用此

Meng, Q., Li, Q., Tang, J., Tian, Y., Xu, K., & Ding, X. (2023). Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot. 在 W. Cai, G. Yang, J. Qiu, T. Gao, L. Jiang, T. Zheng, & X. Wang (编辑), Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 (页码 1792-1797). (Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA58696.2023.10241513

Meng, Qinchen ; Li, Qikai ; Tang, Jianyin 等. / Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot. Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023. 编辑 / Wenjian Cai ; Guilin Yang ; Jun Qiu ; Tingting Gao ; Lijun Jiang ; Tianjiang Zheng ; Xinli Wang. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 1792-1797 (Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023).

@inproceedings{85b9ed24ebef4e0cb08bef9e65214435,

title = "Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot",

abstract = "The series elastic actuator (SEA) has the advantages of flexibility, safety and high energy efficiency. Compared with proprioceptive actuator, it's more suitable for heavy load legged robots. However, a SEA often has a long volume in the axial direction, which will bring trouble to the design of legged robots' structure. In this paper, a new practical hollow shaft SEA with an innovative elastic element in a thin-walled cylinder shape is proposed. Due to the great compact design and the novel shape of the elastic element, the proposed SEA is only 66 mm long axially with a peak torque of 40 Nm. To optimize the shape of the elastic element, the authors combine orthogonal experiments with finite element analysis, and also propose a variable stiffness scheme. At the same time, the dynamic model is further analyzed, and an online parameters identification method is proposed, which is helpful to improve the control capability.",

keywords = "Series Elastic Actuator, torsional elastic element, velocity control",

author = "Qinchen Meng and Qikai Li and Jianyin Tang and Yaobin Tian and Kun Xu and Xilun Ding",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 ; Conference date: 18-08-2023 Through 22-08-2023",

year = "2023",

doi = "10.1109/ICIEA58696.2023.10241513",

language = "英语",

series = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1792--1797",

editor = "Wenjian Cai and Guilin Yang and Jun Qiu and Tingting Gao and Lijun Jiang and Tianjiang Zheng and Xinli Wang",

booktitle = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",

address = "美国",

}

Meng, Q, Li, Q, Tang, J, Tian, Y , Xu, K & Ding, X 2023, Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot. 在 W Cai, G Yang, J Qiu, T Gao, L Jiang, T Zheng & X Wang (编辑), Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023. Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023, Institute of Electrical and Electronics Engineers Inc., 页码 1792-1797, 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023, Ningbo, 中国, 18/08/23. https://doi.org/10.1109/ICIEA58696.2023.10241513

Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot. / Meng, Qinchen; Li, Qikai; Tang, Jianyin 等.
Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023. 编辑 / Wenjian Cai; Guilin Yang; Jun Qiu; Tingting Gao; Lijun Jiang; Tianjiang Zheng; Xinli Wang. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 1792-1797 (Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot

AU - Meng, Qinchen

AU - Li, Qikai

AU - Tang, Jianyin

AU - Tian, Yaobin

AU - Xu, Kun

AU - Ding, Xilun

PY - 2023

Y1 - 2023

N2 - The series elastic actuator (SEA) has the advantages of flexibility, safety and high energy efficiency. Compared with proprioceptive actuator, it's more suitable for heavy load legged robots. However, a SEA often has a long volume in the axial direction, which will bring trouble to the design of legged robots' structure. In this paper, a new practical hollow shaft SEA with an innovative elastic element in a thin-walled cylinder shape is proposed. Due to the great compact design and the novel shape of the elastic element, the proposed SEA is only 66 mm long axially with a peak torque of 40 Nm. To optimize the shape of the elastic element, the authors combine orthogonal experiments with finite element analysis, and also propose a variable stiffness scheme. At the same time, the dynamic model is further analyzed, and an online parameters identification method is proposed, which is helpful to improve the control capability.

AB - The series elastic actuator (SEA) has the advantages of flexibility, safety and high energy efficiency. Compared with proprioceptive actuator, it's more suitable for heavy load legged robots. However, a SEA often has a long volume in the axial direction, which will bring trouble to the design of legged robots' structure. In this paper, a new practical hollow shaft SEA with an innovative elastic element in a thin-walled cylinder shape is proposed. Due to the great compact design and the novel shape of the elastic element, the proposed SEA is only 66 mm long axially with a peak torque of 40 Nm. To optimize the shape of the elastic element, the authors combine orthogonal experiments with finite element analysis, and also propose a variable stiffness scheme. At the same time, the dynamic model is further analyzed, and an online parameters identification method is proposed, which is helpful to improve the control capability.

KW - Series Elastic Actuator

KW - torsional elastic element

KW - velocity control

UR - https://www.scopus.com/pages/publications/85173606276

U2 - 10.1109/ICIEA58696.2023.10241513

DO - 10.1109/ICIEA58696.2023.10241513

M3 - 会议稿件

AN - SCOPUS:85173606276

T3 - Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

SP - 1792

EP - 1797

BT - Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

A2 - Cai, Wenjian

A2 - Yang, Guilin

A2 - Qiu, Jun

A2 - Gao, Tingting

A2 - Jiang, Lijun

A2 - Zheng, Tianjiang

A2 - Wang, Xinli

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

Y2 - 18 August 2023 through 22 August 2023

ER -

Meng Q, Li Q, Tang J, Tian Y , Xu K , Ding X. Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot. 在 Cai W, Yang G, Qiu J, Gao T, Jiang L, Zheng T, Wang X, 编辑, Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. 页码 1792-1797. (Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023). doi: 10.1109/ICIEA58696.2023.10241513

Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此