High-Power and Precise Actuation System with Direct Drive and Variable Structured Elasticity

Yoshitaka Abe, Timur Almeev, Jingang Yi, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages396-401
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: 2019 Mar 182019 Mar 20

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period19/3/1819/3/20

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Keywords

  • clutched elastic actuator
  • elastic actuator
  • motion control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

Cite this

Abe, Y., Almeev, T., Yi, J., & Katsura, S. (2019). High-Power and Precise Actuation System with Direct Drive and Variable Structured Elasticity. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 396-401). [8722861] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722861