Overview of Design and Modeling of Series Elastic Actuators with Applications on Robotics
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摘要: 相比于传统的刚性驱动器, 串联弹性驱动器具有被动柔顺性、阻抗低、抗冲击、力感知等诸多优点, 因而已经广泛地应用到各种机器人系统当中. 本文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; 接下来叙述串联弹性驱动器在机器人中的主要应用: 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 to traditional rigid actuators, series elastic actuators have many advantages such as passive compliance, low impedance, impact resistance, force sensing, and precise force control, which have been widely used in various robotic systems. First, according to different elastic and damping characteristics, this review divides series elastic actuators into “elastic”, “damping” and “elastic-damping” series elastic actuators, introduces the advantages and disadvantages of different types of series elastic actuators, and gives a detailed overview of the mechanical implementation of elastic and damping characteristics. Then, the modeling methods of various series elastic actuators as force sensors are introduced. Next, applications of series elastic actuators in robots are described with focus on the force sensors, safety protection and reduction of energy consumption. Finally, this review introduces the future development direction of series elastic actuators.
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Key words:
- Series elastic actuator /
- elastic /
- damping /
- mechanical implementation methods /
- modeling method
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图 2 基于直线压缩弹簧的弹性装置: (a)单直线压缩弹簧; (b)多直线压缩弹簧; (c)对抗放置双直线压缩弹簧; (d)对抗放置双直线压缩弹簧输出双向旋转扭矩; (e)多直线压缩弹簧输出双向旋转扭矩
Fig. 2 The elastic device based on linear compression spring: (a) Single linear compression spring; (b) Multiple linear compression spring; (c) Two linear compression springs placed against each other; (d) Two linear compress ion springs placed against each other generate bidirectional rotational torque; (e) Multiple linear compression spring generate bidirectional rotational torque
图 3 基于直线拉伸弹簧的弹性装置: (a)多直线拉伸弹簧; (b)对抗放置双直线拉伸弹簧; (c)对抗放置双直线拉伸弹簧输出双向旋转扭矩; (d)多直线压缩弹簧输出双向旋转扭矩
Fig. 3 The elastic device based on linear tension spring: (a) Multiple linear tension spring; (b) Two linear tension springs placed against each other; (c) Two linear tension springs placed against each other generate bidirectional rotational torque; (d) Multiple linear tension spring generate bidirectional rotational torque
图 4 基于螺旋扭转弹簧的弹性装置: (a)单螺旋扭转弹簧; (b)对抗放置双螺旋扭转弹簧
Fig. 4 The elastic device based on helical torsion spring: (a)Single helical torsion spring; (b)Double helical torsion spring placed against each other
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 9 粘弹性元件: (a)圆柱形; (b)花瓣形; (c)圆环形; (d)方块形; (e)梁形
Fig. 9 The viscoelastic elements: (a) Cylinder; (b) Petaloid; (c) Circular ring; (d) Block; (e) Beam shape
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-阻尼性串联弹性驱动器示意简图: (a)电机和减速器之前; (b)减速器之前; (c)减速器之中
Fig. 11 Schematic diagram of an elastic-damped series elastic actuator based on the placement position of the elastic element: (a)Before motor and reducer; (b)Before reducer; (c)In the reducer
图 14 具有预压缩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: (a)胡克定律; (b) Kelvin-Voigt模型; (c) Maxwell模型;(d) Standard Linear Solid模型; (e) Burger’s模型
Fig. 15 The modeling method of element with elastic and damping characteristics by the physical characteristics: (a) Hooke’s Law; (b) Kelvin-Voigt model; (c) Maxwell model; (d) Standard Linear Solid model; (e) Burger’s model
图 16 Kelvin-Voigt模型和Maxwell模型对应力松弛和蠕变的建模结果: (a) Kelvin-Voigt模型的应力松弛建模结果; (b) Kelvin-Voigt模型的蠕变建模结果; (c) Maxwell模型的应力松弛建模结果; (d) Maxwell模型的蠕变建模结果[97]
Fig. 16 Stress relaxation and creep behaviour of the Kelvin-Voigt model and the Maxwell model: (a) Stress relaxation behaviour of the Kelvin-Voigt model; (b) Creep behaviour of the Kelvin-Voigt model; (c) Stress relaxation behaviour of the Maxwell model; (d) Creep behaviour of the Maxwell model[97]
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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