로봇학회논문지 제14권 제2호 (통권 제52호) (p.131-138)

능동형 현가장치를 위한 가변 강성 직렬 탄성 액추에이터 설계

Variable Stiffness Series Elastic Actuator Design for Active Suspension
키워드 :
Series Elastic Actuator,Active Suspension,Variable Stiffness,Compliance Control

목차

Abstract
1. 서 론
2. 직렬 탄성 액추에이터 모델링
  2.1 직렬 탄성 액추에이터
  2.2 종류
  2.3 직렬 탄성 액추에이터 설계
  2.4 모델링
3. 구조 설계 및 제어기 설계
  3.1 직렬 탄성 액추에이터 구동
  3.2 가변 강성 구조 설계
  3.3 제어기 설계
4. 실험 및 결과
5. 결 론
References

초록

In this study, we developed an FSEA(Force-sensing Series Elastic Actuator) composed of a spring and an actuator has been developed to compensate for external disturbance forced. The FSEA has a simple structure in which the spring and the actuator are connected in series, and the external force can be easily measured through the displacement of the spring. And the characteristic of the spring absorbs the shock to the small disturbance and increases the sense of stability. It is designed and constructed to control the stiffness of such springs more flexibly according to the situation. The conventional FSEA uses a fixed stiffness spring and the actuator is not compensated properly when it receives large or small external force. Through this experiment, it is confirmed that FSEA compensates the external force through the proposed algorithm that the variable stiffness compensates well for large and small external forces.