로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제14권2호
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  • Pages.131-138
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  • 2019
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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능동형 현가장치를 위한 가변 강성 직렬 탄성 액추에이터 설계

Variable Stiffness Series Elastic Actuator Design for Active Suspension

  • 투고 : 2018.12.10
  • 심사 : 2019.05.14
  • 발행 : 2019.05.31
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초록

In this study, we developed an FSEA(Force-sensing Series Elastic Actuator) composed of a spring and an actuator has been developed to compensate for external disturbance forced. The FSEA has a simple structure in which the spring and the actuator are connected in series, and the external force can be easily measured through the displacement of the spring. And the characteristic of the spring absorbs the shock to the small disturbance and increases the sense of stability. It is designed and constructed to control the stiffness of such springs more flexibly according to the situation. The conventional FSEA uses a fixed stiffness spring and the actuator is not compensated properly when it receives large or small external force. Through this experiment, it is confirmed that FSEA compensates the external force through the proposed algorithm that the variable stiffness compensates well for large and small external forces.

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참고문헌

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피인용 문헌

  1. 고속 세그웨이의 곡선 운동에서의 안정성 향상 vol.15, pp.2, 2019, https://doi.org/10.7746/jkros.2020.15.2.139