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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)
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages580-585
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873695
WOS IDWOS:000447628700106
Contribution Rank1
ISBN978-1-5386-0489-2
KeywordSeries Elastic Actuator Sea Spring Optimization Design Spiral Dynamics Algorithm
Abstract

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.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21358
Collection机器人学研究室
Corresponding AuthorLin GM(林光模)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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