机器人2012，Vol.34Issue(3)：275-281,7.DOI:10.3724/SP.J.1218.2012.00275
刚度和等效质量对SEA能量放大特性的影响
Effect of Stiffness and Equivalent Mass on Energy Amplification Characteristics of SEA
摘要
Abstract
The actuator output energy chart is plotted by analytic solution for a simple SEA (with a elastic component) model, and the energy amplification characteristics of the simple SEA model are analyzed, therefor, the issue of no analytic solution in Paluska's SEA energy analysis is solved. In addition, for the over-simplification of the dynamics model in Paluska's analysis, the equivalent mass of transmission mechanism is introduced to improve the energy amplification model of SEA. The parameters of the SEA energy amplification model are normalized to simplify the solution and analysis. Furthermore the numerical solution is calculated under the normalized condition using frequency domain transformation, and the output energy chart of the actuator is plotted. Thereby the SEA energy amplification characteristics of the proposed model are obtained, and its variations with the system parameters (stiffness of the spring, equivalent mass of the transmission mechanism) are obtained.关键词
机器人/串联弹性驱动器(SEA)/能量放大特性/传动机构等效质量Key words
robot/ series elastic actuator (SEA)/ energy amplification characteristic/ equivalent mass of transmission mechanism分类
信息技术与安全科学引用本文复制引用
马洪文,赵朋,王立权,俞林..刚度和等效质量对SEA能量放大特性的影响[J].机器人,2012,34(3):275-281,7.基金项目
国家自然科学基金资助项目(60875067) （60875067）
黑龙江省自然科学基金资助项目(F200602,ZD200911) （F200602,ZD200911）
哈尔滨市创新人才基金资助项目(2010RFQXG010) （2010RFQXG010）
自由探索计划资助项目(HEUCF110709). （HEUCF110709）
