一种可实时切换串并联柔顺性的新型执行器，突破传统局限。
DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
- 设计双拓扑弹性执行器，实现在运行中动态切换串/并联模式。
- 切换时间低于33.33毫秒，连续324次负载切换无损坏。
- 兼具高刚度与强抗扰能力，适合需要灵活适应的机器人场景。
串行和并行弹性执行器具有互补但互斥的优势，而现有执行器无法在运行中实现拓扑实时切换。本文提出一种新型执行器——双拓扑弹性执行器（DTEA），可在运行中动态切换串行（SEA）与并行（PEA）拓扑。开发了概念验证原型，验证了切换机制的可行性。实验表明，在负载下成功完成324次拓扑切换且无损伤，切换时间低于33.33毫秒。静态刚度测试显示，PEA模式刚度为SEA模式的1.53倍（KSEA = 5.57 ± 0.02 Nm/rad，KPEA = 8.54 ± 0.02 Nm/rad）。扰动抑制实验表明，SEA模式下平均峰值偏转是PEA模式的2.26倍（5.2° vs. 2.3°），平均恢复时间长3.45倍（1380 ms vs. 400 ms）。实验结果符合传统SEA与PEA特性，验证了DTEA两种模式的功能性。
原文摘要 · Abstract (English)
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper presents a novel actuator design called the Dual-Topology Elastic Actuator (DTEA), which enables dynamic switching between SEA and PEA topologies during operation. A proof-of-concept prototype of the DTEA is developed to demonstrate the feasibility of the topology-switching mechanism. Experiments are conducted to evaluate the robustness and timing of the switching mechanism under operational conditions. The actuator successfully performed 324 topology-switching cycles under load without damage, demonstrating the robustness of the mechanism. The measured switching time between SEA and PEA modes is under 33.33 ms. Additional experiments are conducted to characterize the static stiffness and disturbance rejection performance in both SEA and PEA modes. Static stiffness tests show that the PEA mode is 1.53x stiffer than the SEA mode, with KSEA = 5.57 +/- 0.02 Nm/rad and KPEA = 8.54 +/- 0.02 Nm/rad. Disturbance rejection experiments show that the mean peak deflection in SEA mode is 2.26x larger than in PEA mode (5.2 deg vs. 2.3 deg), while the mean settling time is 3.45x longer (1380 ms vs. 400 ms). The observed behaviors are consistent with the known characteristics of conventional SEA and PEA actuators, validating the functionality of both modes in the DTEA actuator.
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