High-performance series elastic stepper motors for interaction force control

Kuei You Lin, Kuan Yi Wu, Chao Chieh Lan

研究成果: Conference contribution

7 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
發行者Institute of Electrical and Electronics Engineers Inc.
頁面773-778
頁數6
ISBN(電子)9781509059980
DOIs
出版狀態Published - 2017 八月 21
事件2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
持續時間: 2017 七月 32017 七月 7

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
國家Germany
城市Munich
期間17-07-0317-07-07

All Science Journal Classification (ASJC) codes

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

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