用共享气弹簧实现双轴力矩补偿，提升人形机器人踝关节扭矩与能效。
A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles
- 双凸轮+单气弹簧结构，共享弹性元件实现双轴补偿。
- 通过优化设计定制凸轮轮廓，满足特定任务的力矩需求。
- 结构紧凑可定制，适合需要高能效踝关节的人形机器人。
为提升人形机器人踝关节的扭矩能力与能量效率，本文提出一种2自由度并联弹性驱动器（PEA）。其核心创新在于双凸轮-单气弹簧架构，利用共享弹性元件在俯仰和滚动两个方向实现力矩补偿，相比传统多弹性元件方案更具结构紧凑性。通过并联气弹簧与定制凸轮模块，该设计可针对特定任务提供双轴力矩辅助。第二项关键贡献是建立耦合的2自由度数学模型，明确刻画两个补偿单元通过共享弹簧的相互依赖关系。基于此模型，开发了从预设力矩参考值生成定制凸轮轮廓的优化设计框架，实现了从任务需求到硬件实现的系统化映射。完整下肢三维建模集成详细呈现。静力学有限元分析与运动学仿真验证了设计可行性及力矩缓解效果。结果表明，该设计是一种紧凑、可定制的2自由度人形机器人踝关节力矩补偿解决方案。
原文摘要 · Abstract (English)
To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby improving structural compactness compared with conventional multi-element compensation schemes. By leveraging parallel gas springs and customized cam modules, the proposed architecture provides dual-axis torque assistance tailored to specific task requirements. The second key contribution is the formulation of a coupled 2-DoF mathematical model that explicitly captures the interdependence between the two compensation units through the shared spring. Based on this model, an optimization-based design framework is developed to synthesize customized cam profiles from prescribed torque references, establishing a systematic link from task requirements to hardware realization. The complete lower-leg CAD integration is presented in detail. Static FEA and kinematic simulations confirm the design's feasibility and torque-relief effectiveness. The results highlight the proposed design as a compact, customizable solution for 2-DoF humanoid ankle torque compensation.
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