High-performance series elastic stepper motors for interaction force control

Kuei You Lin, Kuan Yi Wu, Chao Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators. The merit of using stepper motors as the actuators has not been explored. Stepper motors have a higher torque-To-weight ratio than other DC motors. With proper rotor position feedback, stepper motors can achieve smooth and accurate dynamic response similar to brushed or brushless DC motors. This paper develops a dynamic model of a series elastic stepper motor and presents its prototype. Forward and inverse force tracking responses of the series elastic stepper motor will be demonstrated to show its force control performance. We expect that the results presented here can provide an alternative for the actuator selection of series elastic actuators when higher torque-To-weight ratio is required.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages773-778
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 2017 Aug 21
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17-07-0317-07-07

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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