Mehmet Can YILDIRIM, Polat ŞENDUR, Barkan UĞURLU

Seri elastik eyleyiciler için mekanik tasarım süreçleri

Bu makalede tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim çalışmalarının anlamlı bir bütünlük teşkil edecek şekilde entegrasyonunu içeren bu süreçlerin çıktıları ayrıca deneysel çalışmalar ile de sınanmış olup ünitenin en kritik parçası olan burulma yayı üzerinde önemle durulmuştur. SEE ünitesinin ilk sürümünde karşılaşılan zorluklar deneysel çalışmalar ışığında paylamış ve robotik sistemlerin tahrikine hazır ikinci sürüm ile ilgili sonuçlar ile makale sonlandırılmıştır.

Anahtar Kelimeler:

Seri elastik eyleyici, Sonlu elemanlar metodu, Burulma

Mechanical design procedures for series elastic actuators

This article presents the mechanical design procedures that were devised for the development of series elastic actuators (SEA), a type of actuators that enable joint level torque control of robots. These procedures include the synergistic combination of studies that were conducted via simulation and CAD software whose outcomes were experimentally verified, with a special emphasis on the torsional spring, the most crucial element in the unit. Technical difficulties and shortcomings that were encountered in the first version of the actuator are disclosed with the help of experimental data. The article is concluded with the results from the ready-to-use 2nd version of our SEA.

Keywords:

Series elastic actuator, Finite element methods, Torsion,

PDF

___

Ajoudani A, Zanchettin A, Ivaldi S, Albu-Schaeffer A, Kosuge K, Khatib O. “Progress and prospects of the physical human-robot collaboration”. Autonomous Robots, 42(5), 957-975, 2018.
Wang, KJ, Sun, M, Xia, R, Mao, ZH. “Human-robot symbiosis framework on exoskeleton devices”. IEEE International Conference on Industrial Technology, Taipei, Taiwan, 14-17 March 2016.
Van Ham R, Sugar TG, Vanderborght B, Hollander KW, Lefeber B. “Compliant actuator designs”. IEEE Robotics and Automation Magazine, 16(3), 81-94, 2009.
Pratt GA, Williamson MM. “Series elastic actuators”. IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, USA, 5-9 August 1995.
Veneman JF, Ekkelenkamp R, Kruidhof R, van der Helm FCT, van der Kooij H. “A series elastic- and bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots”. International Journal of Robotics Research, 25(3), 261-281, 2006.
Paine N, Oh S, Sentis L. “Design and control considerations for high-performance series elastic actuators”. IEEE Transactions on Mechatronics, 19(3), 1080-1091, 2014.
Sariyildiz E, Chen G, Yu H. “An acceleration-based robust motion controller design for a novel series elastic actuator”. IEEE Transactions on Industrial Electronics, 63(3), 1900-1910, 2016.
Tsagarakis NG, Morfey S, Medrano-Cerda G, Li Z, Caldwell DG. “Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Control”. IEEE International. Conference on Robotics and Automation, Karlsruhe, Germany, 6-10 May 2013.
Laffranchi M, Tsagarakis NG, Cannella F, Caldwell DG. “Antagonistic and series elastic actuators: a comparative analysis on the energy consumption”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kobe, Japan, 10-15 October 2009.
Kormushev P, Ugurlu B, Calinon S, Tsagarakis NG, Caldwell DG. “Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization”. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA, 25-30 September 2011.
Ugurlu B, Havoutis I, Semini C, Kayamori K, Caldwell DG, Narikiyo T. “Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ”. Autonomous Robots, 38(4), 415-437, 2015.
Zinn M, Khatib O, Roth B, Salisbury JL. “Playing it safe [human-friendly robots]”. IEEE Robotics and Automation Magazine, 11(2), 12-21, 2004.
Mehling JS, Holley J, O’Malley MK. “Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September-02 October 2015.
Parmiggiani A, Metta G, Tsagarakis NG. “The mechatronic design of the new legs of the iCub robot”. IEEE Conference on Humanoid Robotics, Osaka, Japan, 29 November-01 December 2012.
Yildirim MC, Sendur P, Bilgin O, Gulek B, Yapici GG, Ugurlu B. “An integrated design approach for a series elastic actuator: stiffness tuning, fatigue analysis, thermal management”. IEEE International Conference on Humanoid Robots, Birmingham, United Kingdom, 5-7 November 2017.
Tuttle TD, Seering WP. “A nonlinear model of a harmonic drive gear transmission”. IEEE Transactions on Robotics and Automation, 12(3), 368-374, 1996.
Negrello F, Garabini M, Catalano MG, Malzahn J, Caldwell, DG, Bicchi A, Tsagarakis NG. “A modular compliant actuator for emerging high performance and fall-resilient humanoids”. IEEE International Conference on Humanoid Robots, Seoul, Korea, 3-5 November 2015.