A series-elastic actuator (SEA) can provide remarkable performance benefits in a robotic system, allowing the execution of highly dynamic manuevers, such as a jump. While SEAs have been used in numerous robotic systems, no comprehensive understanding of an optimal design exists. This paper presents a new analytical basis for maximizing an SEA thrust performance for jumping from rest with an articulated leg. The analytical SEA model is validated with simulation and experimental results from a prototype leg. An SEA decouples the dynamic limitations of a dc motor actuator from the joint, allowing larger lift-off velocities than with a directly driven joint. A detailed analysis of the complex dynamic response of an SEA during the thrust phase leads to a new maximum impulse criterion, where motor speed is approximately half the no-load speed at the moment of peak motor torque. The analytical model and this proposed criterion are used to develop a simple equation for selecting SEA design parameters. Lastly, a novel unidirectional SEA design is presented that allows for accurate positioning of the leg during flight.
Skip Nav Destination
Article navigation
February 2009
Research Papers
Design of Series-Elastic Actuators for Dynamic Robots With Articulated Legs
Simon Curran,
Simon Curran
Electrical and Computer Engineering,
The Ohio State University
, Columbus, OH 43210
Search for other works by this author on:
James P. Schmiedeler,
James P. Schmiedeler
Mechanical Engineering,
The Ohio State University
, Columbus, OH 43210
Search for other works by this author on:
David E. Orin
David E. Orin
Electrical and Computer Engineering,
The Ohio State University
, Columbus, OH 43210
Search for other works by this author on:
Simon Curran
Electrical and Computer Engineering,
The Ohio State University
, Columbus, OH 43210
Brian T. Knox
James P. Schmiedeler
Mechanical Engineering,
The Ohio State University
, Columbus, OH 43210
David E. Orin
Electrical and Computer Engineering,
The Ohio State University
, Columbus, OH 43210J. Mechanisms Robotics. Feb 2009, 1(1): 011006 (9 pages)
Published Online: July 30, 2008
Article history
Received:
March 27, 2008
Revised:
June 25, 2008
Published:
July 30, 2008
Citation
Curran, S., Knox, B. T., Schmiedeler, J. P., and Orin, D. E. (July 30, 2008). "Design of Series-Elastic Actuators for Dynamic Robots With Articulated Legs." ASME. J. Mechanisms Robotics. February 2009; 1(1): 011006. https://doi.org/10.1115/1.2960535
Download citation file:
Get Email Alerts
Announcing the Journal of Mechanisms and Robotics 2023 Best Paper Award
J. Mechanisms Robotics
An Undulating Kirigami Pattern with Enhanced Tear Strength
J. Mechanisms Robotics
Related Articles
A Compact, Modular Series Elastic Actuator
J. Mechanisms Robotics (August,2016)
Parametric Design of
Parallel Force/Velocity Actuators: Force Distribution
Analysis
J. Mechanisms Robotics (February,2010)
Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds
J. Mechanisms Robotics (June,2018)
Gait Phase-Based Control for a Rotary Series Elastic Actuator Assisting the Knee Joint
J. Med. Devices (September,2011)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Accuracy of an Axis
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Materials
Design and Application of the Worm Gear