A Flatness-based Approach for Mechanical Systems with Series Elastic Actuators
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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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Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
A Flatness-based Approach for Mechanical Systems with Series Elastic Actuators
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
A Flatness-based Approach for Mechanical Systems with Series Elastic Actuators
Popis výsledku anglicky
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.
Klasifikace
Druh
O - Ostatní výsledky
CEP obor
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OECD FORD obor
20301 - Mechanical engineering
Návaznosti výsledku
Projekt
<a href="/cs/project/GA23-06920S" target="_blank" >GA23-06920S: Funkčně biomimetický exoskelet lidské horní končetiny pro selektivní podporu svalů</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2024
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů