南方科技大学知识苑(SUSTech KC): Design and control of a compliant robotic actuator with parallel spring-damping transmission

题名	Design and control of a compliant robotic actuator with parallel spring-damping transmission
作者	Yuan，Peikang 1; Liu，Jianbin 1; Branson，David T.2; Song，Zhibin 1; Wu，Shuai 3; Dai，Jian S.1,4 ; Kang，Rongjie 1
通讯作者	Kang，Rongjie
发表日期	2024
DOI	10.1017/S0263574724000110
发表期刊	Robotica 影响因子和分区
ISSN	0263-5747
EISSN	1469-8668
摘要	Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human-robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits the force and position control performance of the actuator system due to the induced oscillations and decreased mechanical bandwidth. To solve this problem, we first investigate the dynamic effects of implementing variable physical damping into a compliant actuator. Following this, we propose a structural scheme that integrates a variable damping element in parallel to a conventional series elastic actuator. A damping regulation algorithm is then developed for the parallel spring-damping actuator (PSDA) to tune the dynamic performance of the system while remaining sufficient compliance. Experimental results show that the PSDA offers better stability and dynamic capability in the force and position control by generating appropriate damping levels.
关键词	compliant actuator force control position control variable damping
相关链接	[Scopus记录]
收录类别	SCI ; EI
语种	英语
学校署名	其他
ESI学科分类	ENGINEERING
Scopus记录号	2-s2.0-85184595572
来源库	Scopus
引用统计	被引频次[WOS]：2
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/701639
专题	南方科技大学
作者单位	1.Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,School of Mechanical Engineering,Tianjin University,Tianjin,300072,China 2.Faculty of Engineering,University of Nottingham,Nottingham,NG7 2RD,United Kingdom 3.Research Institute for Frontier Science,Beihang University,Beijing,100191,China 4.Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Southern University of Science and Technology,Shenzhen,518055,China
推荐引用方式 GB/T 7714	Yuan，Peikang,Liu，Jianbin,Branson，David T.,et al. Design and control of a compliant robotic actuator with parallel spring-damping transmission[J]. Robotica,2024.
APA	Yuan，Peikang.,Liu，Jianbin.,Branson，David T..,Song，Zhibin.,Wu，Shuai.,...&Kang，Rongjie.(2024).Design and control of a compliant robotic actuator with parallel spring-damping transmission.Robotica.
MLA	Yuan，Peikang,et al."Design and control of a compliant robotic actuator with parallel spring-damping transmission".Robotica (2024).