A Flatness-based Approach for Mechanical Systems with Series Elastic Actuators
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F24%3A00379257" target="_blank" >RIV/68407700:21220/24:00379257 - isvavai.cz</a>
Result on the web
<a href="https://compmech.kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf" target="_blank" >https://compmech.kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
A Flatness-based Approach for Mechanical Systems with Series Elastic Actuators
Original language description
The paper deals with series elastic actuators in linear-rotary arrangement, where linear axis is considered as a cart with voice-coil actuator and rotary axis as a pendulum. The connection is provided by springs in different configurations. The models are derived using flatness approach, where the arising underactuated mechanism is controlled by feedforward action of flatness-based regulator only or by a combination of feedforward and feedback regulator action with different setups. This model is subsequently extended by an additional cart to investigate a parallel actuation of the central rotary axis. In the last step, the two considered carts are extended by parallel springs providing the cart frame connection. The aim is also to investigate close human–robot interaction based on elastic robot designs, which can provide human safety and further, elastic actuator designs can increase the energy efficiency of assistive devices, such as exoskeletons, using actuator elasticity adaptation in repetitive assistive motion.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/GA23-06920S" target="_blank" >GA23-06920S: Functionally biomimetic exoskeleton of human upper limb for selective muscle augmentation</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů