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摘要:
相比于传统的刚性驱动器, 串联弹性驱动器(Series elastic actuator, SEA)具有被动柔顺性、阻抗低、抗冲击、力感知等诸多优点, 因而已被广泛应用于各种机器人系统中. 首先根据弹性和阻尼特性将串联弹性驱动器分为弹性型、阻尼型和弹性−阻尼型串联弹性驱动器, 介绍不同类型串联弹性驱动器的优缺点, 并详细概述弹性和阻尼特性的机械实现方式; 然后对各类串联弹性驱动器作为力传感器的建模方法进行介绍; 接着叙述串联弹性驱动器在机器人系统中的主要应用, 如力传感器、安全保护、降低能耗; 最后展望串联弹性驱动器未来的发展方向.
Abstract:Compared with traditional rigid actuators, series elastic actuator (SEA) has many advantages such as passive compliance, low impedance, impact resistance, and force sensing, and so they have been widely used in various robot systems. Firstly, according to the elasticity and damping characteristics, SEAs are divided into elastic SEAs, damped SEAs and elastic-damped SEAs. The advantages and disadvantages of each SEA are introduced, and the mechanical implementation methods of elasticity and damping characteristics are summarized in detail. Then, the modeling methods of SEAs as force sensors are presented. Next, the main applications of SEAs in the robot systems are described, such as force sensors, safety protection and energy consumption reduction. Finally, the future development directions of SEAs are recommended.
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图 8 弹性−阻尼型串联弹性驱动器示意简图
Fig. 8 Schematic diagram of elastic-damped series elastic actuator
图 10 基于弹性与阻尼元件并联组合装置的串联弹性驱动器
Fig. 10 Series elastic actuator based on parallel combination of elastic and damping elements
图 11 基于弹性元件放置位置的弹性-阻尼型串联弹性驱动器示意简图
Fig. 11 Schematic diagram of an elastic-damped series elastic actuator based on the placement position of the elastic element
图 14 具有预压缩的弹性元件模型特性曲线
Fig. 14 The characteristic curve of elastic element with pre-compressed
图 15 基于具有弹性和阻尼特性元件物理特性的建模方法
Fig. 15 The modeling method of element with elastic and damping characteristics by the physical characteristics
表 1 各类串联弹性驱动器机械实现方式及比较
Table 1 Mechanical realization and comparison of various series elastic actuators
类型 物理特性 机械实现方式 系统力带宽 能量特性 安全性 弹性型串联弹性驱动器 弹性 直线压缩弹簧 一般 效率高 高 直线拉伸弹簧 螺旋扭转弹簧 结构弹簧 阻尼型串联弹性驱动器 阻尼 磁流变液阻尼器 较高 效率低 低 弹性-阻尼型串联弹性驱动器 弹性和阻尼 粘弹性元件 高 效率一般 一般 弹性与阻尼元件并联组合装置 弹性元件放置位置 
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表 2 各类串联弹性驱动器建模方法
Table 2 Modeling methods of various series elastic actuators
类型 建模方法 模型参数 复杂度 弹性型 胡克定律 1 简单 阻尼型 线性粘性阻尼 1 简单 弹性-阻尼型 粘弹性元件 Maxwell 模型、指数模型等 多 复杂 弹性和阻尼元件并联组合装置 线性粘性阻尼与胡克定律 弹性元件放置位置 动力学
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