Development and Characteristic Analysis of Multi-mode Elastic Actuators
In response to the issues of poor buffering,high energy consumption,and single driv-ing mode in current rigid actuators,a multi-mode elastic actuator for legged robots was proposed.The actuator utilized a motor to drive a screw nut in series with a spring,combined with a braking device,to achieve multi-mode output.Firstly,the design of the elastic actuator was based on the motion re-quirements of the knee joint in legged robots.Subsequently,a coupled rigid-soft dynamics model of the multi-mode elastic actuator was established to investigate the effects of different elastic coefficients and load masses on the output performance of the actuators.Finally,a prototype of the multi-mode e-lastic actuator was developed,and a control system hardware and software platforms were set up.Per-formance tests of the actuators and experimental studies of the applications in mechanical legs were conducted.The experimental results show that the actuators may effectively switch between modes,and the outputs meet the motion requirements of the knee joints,validating the effectiveness of the multi-mode elastic actuator's driving performance.
万方数据
维普
