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

Yoshitaka Abe, Timur Almeev, Jingang Yi, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ396-401
ページ数6
ISBN(電子版)9781538669594
DOI
出版ステータスPublished - 2019 5 24
イベント2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
継続期間: 2019 3 182019 3 20

出版物シリーズ

名前Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

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

ASJC Scopus subject areas

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

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