给封闭式电机加弹性元件，让力控更准更快，成本还低。
Investigating the Effect of a Series Elastic Actuation Retrofit to Black-Box Actuators
- 在黑箱电机上加扭簧弹性元件，提升力控精度。
- 力控带宽从10.32Hz提升至30.32Hz，提升2.93倍。
- 性能超商用传感器7.63%，成本仅其十分之一。
在机器人应用中，执行器通常设计为刚性以保证精度和重复性，但会限制柔顺性，在不确定环境中易造成损伤且力控差。串联弹性驱动（SEA）通过引入柔顺性增强抗干扰能力，并利用胡克定律实现力测量，但会降低系统带宽。本文对一个黑箱执行器进行了串联弹性元件的改造，以缓解间隙和静摩擦等非线性问题。通过有限元分析设计了一款扭转型弹性元件，刚度为2155.4 Nm/rad。测试了原始电机与集成SEA配置的开环力控带宽，并比较了使用SEA反馈与商用力传感器的闭环带宽。结果表明，集成后系统带宽从10.32 Hz提升至30.32 Hz，提升2.93倍。此外，其性能优于商用传感器7.63%，而成本仅为25英镑，远低于商用传感器。
原文摘要 · Abstract (English)
In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain environments. Series Elastic Actuation (SEA) introduces compliance to enhance disturbance rejection and enable force measurement via Hooke's Law but reduces system bandwidth. A custom Series Elastic (SE) element was retrofitted to a black-box actuator to mitigate non-linearities like backlash and static friction. Integrating the SE element enabled high-fidelity force measurements, improving force control bandwidth and performance. A torsional SE element was designed through Finite Element (FE) analysis, yielding a stiffness of 2155.4 Nm/rad. Open-loop force control bandwidth was measured for the original motor and the SEA-integrated configuration, while closed-loop bandwidth was assessed using feedback from the SEA and a commercial force sensor. The SEA module increased bandwidth from 10.32 Hz to 30.32 Hz, a 2.93X improvement. Additionally, it outperformed the commercial sensor by 7.63% despite costing 25 GBP, a fraction of the price.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。