0

Full Content is available to subscribers

Subscribe/Learn More  >

Optimal Design of a Micro Series Elastic Actuator

[+] Author Affiliations
Ozan Tokatli, Volkan Patoglu

Sabancı University, İstanbul, Turkey

Paper No. DETC2010-28336, pp. 833-840; 8 pages
doi:10.1115/DETC2010-28336
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4412-0 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using μSEA for force control removes the need for high-precision force sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element. Since the performance of a μSEA is highly dependent on the design of this compliant coupling element, we employ a design optimization framework to design this element. In particular, we propose a compliant, under-actuated half-pantograph mechanism as a feasible kinematic structure for this coupling element. Then, we consider multiple design objectives to optimize the performance of this compliant mechanism through dimensional synthesis, formulating an optimization problem to study the trade-offs between these design criteria. We optimize the directional manipulability of the mechanism, simultaneously with its task space stiffness, using a Pareto-front based framework. We select an optimal design by studying solutions on the Pareto-front curve and considering the linearity of the stiffness along the actuation direction as a secondary design criteria. The optimized mechanism possesses high manipulability and low stiffness along the movement direction of the actuator; hence, achieves a large stroke with high force resolution. At the same time, the mechanism has low manipulability and high stiffness along the direction perpendicular to the actuator motion, ensuring good disturbance rejection characteristics. We model the behavior of this compliant mechanism and utilize this model to synthesize a controller for μSEA to study its dynamic response. Simulated closed loop performance of the μSEA with optimized coupling element indicates that force references can be tracked without significant overshoot and with low tracking error (about 1.1%) even for periodic reference signals.

Copyright © 2010 by ASME
Topics: Actuators , Design

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In