The Optimum Design of Torsional Spring for Series Elastic Actuator
文献类型：会议论文
| 作者 | Zhao YW(赵忆文) ; Han JD(韩建达); Zhao XG(赵新刚); Lin GM(林光模)
|
| 出版日期 | 2017 |
| 会议名称 | 7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017) |
| 会议日期 | July 31 - August 4, 2017 |
| 会议地点 | Hawaii, USA |
| 关键词 | Series Elastic Actuator SEA spring optimization design Spiral Dynamics Algorithm |
| 页码 | 1-6 |
| 通讯作者 | Lin GM(林光模) |
| 中文摘要 | 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. |
| 产权排序 | 1 |
| 会议录 | 7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-0489-2 |
| 源URL | [http://ir.sia.cn/handle/173321/21358]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.University of Chinese Academy of Sciences, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zhao YW,Han JD,Zhao XG,et al. The Optimum Design of Torsional Spring for Series Elastic Actuator[C]. 见:7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017). Hawaii, USA. July 31 - August 4, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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