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The Optimum Design of Torsional Spring for Series Elastic Actuator
Lin GM(林光模); Zhao XG(赵新刚); Han JD(韩建达); Zhao YW(赵忆文)
作者部门机器人学研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码580-585
收录类别EI ; CPCI(ISTP)
EI收录号20183905873695
WOS记录号WOS:000447628700106
产权排序1
ISBN号978-1-5386-0489-2
关键词Series Elastic Actuator Sea Spring Optimization Design Spiral Dynamics Algorithm
摘要

The use of series elastic actuators (SEA) in the applications with presence of human machine coupling has received extensive attention. One of the important research questions is how to design more efficient and compact flexible joints using physical springs. In this research work, we propose an optimization method for designing a planar torsional spiral spring with a shape of Archimedes curve. To define this optimization problem, the objective function and the constraint condition equations are put forward. We set the minimization of final volume, diameter and height of the spring as the optimization goal, the fixed stiffness of the spring as an equality constraint, the maximum deformation angle and the maximum stress of the spring when it reaches this angle, which should be less than the allowable, as two inequality constraints. To solve this optimization problem, the Spiral Dynamics Algorithm (SDA) is utilized to obtain the optimal parameter vector for this nonlinear constrained optimization problem. To validate the optimal result, a simulation with finite element analysis (FEA) is carried out, and the result shows that the obtained solution vector meets the design goal.

语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21358
专题机器人学研究室
通讯作者Lin GM(林光模)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Lin GM,Zhao XG,Han JD,et al. The Optimum Design of Torsional Spring for Series Elastic Actuator[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:580-585.
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