Demonstrating the safety and performance of a velocity sourced series elastic actuator
Wyeth, Gordon (2008) Demonstrating the safety and performance of a velocity sourced series elastic actuator. In Proceedings of 2008 IEEE International Conference on Robotics and Automation, IEEE, Pasadena Conference Center, Pasadena, CA, p. 3642.
Actuators with deliberately added compliant elements in the transmission system are often described as improving the safety of the actuator at the detriment of the performance. We show that our variant of the Series Elastic Actuator topology, the Velocity Sourced Series Elastic Actuator, has well defined performance characteristics that make for improvements in safety and performance over conventional high impedance actuators. The improvement in performance was principally achieved by having tight velocity control of the DC motor that acts as the mechanical power source for the actuator. Results for performance are given for point to point transition times, while results for safety are based on empirical assessment of the Head Injury Criterion during collisions.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
|Deposited On:||24 Jun 2010 11:51|
|Last Modified:||24 Jun 2010 11:51|
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