TY - GEN
T1 - A Servomotor with Adjustable Stiffness for Humanoid Robotics Application
AU - Folgheraiter, Michele
AU - Umurzakov, Timur
AU - Yessirkepov, Sharafatdin
N1 - Publisher Copyright:
© VDE VERLAG GMBH.
PY - 2022
Y1 - 2022
N2 - The actuation system we propose is based on the combination of a compact high-power and high-speed BLDC motor equipped with a planetary gearbox and a tunable elastic element. As a novelty, with respect to other state-of-the-art actuation systems that integrate fixed elastic components, the servomotor we developed is based on a pneumatic rotary actuator which stiffness can be regulated by controlling the inner pressure. The elastic element is connected in parallel to the output shaft of the motor’s gearbox by means of a rigid connection. This allows to reduce the backlash of the gearbox by 62%, lower the output impedance of the joint, and reduce the robot energy consumption. By effectively reducing the output impedance of the joints, the elastic elements will also increase the robot safety in case of collision with humans or objects present in the environment.
AB - The actuation system we propose is based on the combination of a compact high-power and high-speed BLDC motor equipped with a planetary gearbox and a tunable elastic element. As a novelty, with respect to other state-of-the-art actuation systems that integrate fixed elastic components, the servomotor we developed is based on a pneumatic rotary actuator which stiffness can be regulated by controlling the inner pressure. The elastic element is connected in parallel to the output shaft of the motor’s gearbox by means of a rigid connection. This allows to reduce the backlash of the gearbox by 62%, lower the output impedance of the joint, and reduce the robot energy consumption. By effectively reducing the output impedance of the joints, the elastic elements will also increase the robot safety in case of collision with humans or objects present in the environment.
KW - Adjustable Stiffness
KW - Parallel Elastic Actuator (PEA)
KW - Servomotor
UR - http://www.scopus.com/inward/record.url?scp=85171879414&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85171879414&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85171879414
SN - 9783800758944
T3 - GMM-Fachberichte
SP - 89
EP - 92
BT - Actuator 2022 - 18th International Conference on New Actuator Systems and Applications
PB - VDE Verlag GmbH
T2 - 18th International Conference on New Actuator Systems and Applications, Actuator 2022
Y2 - 28 June 2022 through 30 June 2022
ER -
