Results 61 to 70 of about 41,880 (94)
Some of the next articles are maybe not open access.
Design of Palletizing Robot Using Series Elastic Actuator
2020For along time, palletizing robot use stiffness motor to perform its movement. Its motor will be damaged easily when robot stops suddenly. This paper is about new approachment, applying series elastic actuator to control the robot because of its pros: the vibration will be controlled, controlling force without force sensor which make the robot low cost
Tan Tien Nguyen +3 more
openaire +1 more source
Effect of compliance location in series elastic actuators
Robotica, 2013SUMMARYSeries elastic actuators have beneficial properties for some robot applications. Several recent implementations contain alternative placements of the compliant element to improve instrumentation design. We use a class 1 versus class 2 lever model and energy-port methods to demonstrate in this paper that these alternative placements should still ...
Jonathon W. Sensinger +3 more
openaire +1 more source
A Low Cost Series Elastic Actuator Test Bench
2020The concept of compliance relates to a robot’s capability to exert, absorb, and measure forces acting on its joints. The existing research currently available for compliant actuators is promising, but prohibitively expensive, posing a fiscal entry barrier to research.
Oliver Smith, Swen E. Gaudl
openaire +1 more source
Optimal Design of a Micro Series Elastic Actuator
Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems, 2010We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using μSEA for force control removes the need for high-precision force sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element.
Ozan Tokatli, Volkan Patoglu
openaire +1 more source
Variable Transmission Series Elastic Actuator for Robotic Prosthesis
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018In this paper, we introduce a novel robotic prosthetic knee as shown in Fig. 1 (named as SuKnee) with variable transmission mechanism that could vary transmission ratio while knee angle varies during ambulation activities. A slider crank mechanism is utilized to transform linear motion of series elastic actuator to rotary motion of knee joint.
Xiaojun Sun +3 more
openaire +1 more source
Variable stiffness estimation of a Series Elastic Actuator
2016 35th Chinese Control Conference (CCC), 2016This paper focuses on estimating the variable stiffness of the Series Elastic Actuator(SEA) through torque and relative position between the motor and the payload measurements. Although position and torque sensors are effective in control schemes, the exorbitant price are not convenient for the application of robotics. Through the mathematical modeling,
Shuai Dong +5 more
openaire +1 more source
Bilateral control using two-stage series-elastic actuator
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC), 2016This paper proposes a bilateral control system for master-slave devices using a compliant mechanism that allows an operator to finely handle an object when the stiffness of the object varies from low (soft) to high (hard). The proposed system consists of a two-stage series-elastic actuator (SEA) that has two springs with different stiffness.
Masaru Saito, Jun Ishikawa
openaire +1 more source
dSEDA: a Differential Series Elastic Damped Actuator
2022 International Conference on Robotics and Automation (ICRA), 2022Monteleone, Simone +3 more
openaire +1 more source