Paper Info
Title
A new prismatic series elastic actuator with compact size and high performance.
Abstract
This paper discusses design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor. We introduce a design that pushes the performance boundary of electric series elastic actuators by using high motor voltage coupled with an efficient drivetrain to enable large continuous actuator force while retaining speed. Compact size is achieved through the use of a novel piston-style ball screw support mechanism and a concentrically placed compliant element. We develop controllers for force and position tracking based on combinations of PID, model-based, and disturbance observer control structures. Finally, we demonstrate our actuator's performance with a series of experiments designed to operate the actuator at the limits of its mechanical and control capability.
Year
DOI
Venue
2012
10.1109/ROBIO.2012.6491222
ROBIO
Keywords
Field
DocType
actuators,ball screws,force control,observers,position control,power transmission (mechanical),three-term control,velocity control,PID control,actuator control,actuator design,actuator force,actuator speed,compact size,concentrically placed compliant element,disturbance observer control,drivetrain,force controller,form factor,high motor voltage,model-based control,piston-style ball screw support mechanism,position tracking controller,prismatic series elastic actuator,proportional-integral-derivative control
Ball screw,Plant,Pneumatic actuator,PID controller,Control theory,Control engineering,Rotary actuator,Engineering,Drivetrain,Servomotor,Actuator
Conference
Citations 
PageRank 
References 
3
0.80
0
Authors
2
Name
Order
Citations
PageRank
Nicholas Paine1544.97
Luis Sentis257459.74