Smart Structures and Systems

Techno-Press (테크노프레스)
권호 표지
DOI QR코드

DOI QR Code

Modular and versatile platform for the benchmarking of modern actuators for robots

  • Garcia, Elena (Field and Service Robotics Group, Centre for Automation and Robotics -CSIC-UPM) ;
  • Gonzalez-de-Santos, Pablo (Field and Service Robotics Group, Centre for Automation and Robotics -CSIC-UPM)
  • Received : 2011.07.28
  • Accepted : 2012.07.22
  • Published : 2013.02.25
⟨ Previous Next ⟩

Abstract

This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics.

Keywords

References

  1. Anderson, E.H., Bales, G.L. and White, E.V. (2003), "Application of smart material-hydraulic actuators", Proceedings of the SPIE Industrial and Commercial Applications of Smart Structures and Materials, volume 5054, 73-84, Mountain View, CA.
  2. Au, S.K., Weber, J. and Herr, H. (2007), "Biomechanical design of a powered ankle-foot prosthesis", Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, 298-304, Noordwijk, The Netherlands.
  3. Bar-Cohen,Y. (2000), "Electroactive polymers as artificial muscles -capabilities, potentials and challenges", In Osada, editor, Handbook on Biomimetics, chapter 8, sec. 11, 299-342. NTS Inc.
  4. Beyl, P., VanDamme, M., VanHam, R., Vanderborght, B. and Lefeber, D. (2009), "Design and control of a lower limb exoskeleton for robot-assisted gait training", Applied Bionics and Biomechanics: special issue on lower and upper limb exoskeletons, 6, 229-243.
  5. Bicchi, A. and Tonietti, G. (2004), "Fast and soft arm tactics: Dealing with the safetyperformance trade-off in robot arms design and control", IEEE Robot Autom. Mag., 11(2), 22-33.
  6. Cai, M., Kaaawa, T. and Kawashima, K. (2002), "Energy conversion mechanics and power evaluation of compressible fluid in pneumatic actuator systems", Proceedings of the 37th Intersociety Energy Conversion Engineering Conference, 438 - 443, April 24-28, 2000, San Francisco, CA, USA.
  7. Carlson, D., Catanzarite, D. and St. Clair, K. (2004), "Commercial magneto-rheological fluid devices", Proceedings of the ACTUATOR 2004, Bremen, Germany.
  8. Cassar, D.J. and Saliba, M.A. (2010), "A force feedback glove based on magneto-rheological fluid: Prototype development and evaluation", Proceedings of the 1st International Conference on Applied Bionics and Biomechanics.
  9. Catalano, M., Schiavi, R. and Bicchi, A. (2010). "Mechanism design for variable stiffness actuation based on enumeration and analysis of performance", Proceedings of the IEEE International Conference on Robotics and Automation, 3285-3291, Anchorage, AK.
  10. Cilingir, H.D. and Papila, M. (2010),"Equivalent" electromechanical coefficient for IPMC actuator design based on equivalent bimorph beam theory", Experiment. Mech.,50(8), 1157-1168. https://doi.org/10.1007/s11340-009-9311-0
  11. Garcia, E., Jimenez, M., Gonzalez de Santos, P. and Armada, M. (2007), "The evolution of robotics research: From industrial robotics to field and service robotics", IEEE Robot Autom. Mag., 14(1), 90-03. https://doi.org/10.1109/MRA.2007.339608
  12. Garcia, E., Montes, H. and Gonzalez de Santos, P. (2009a),"Emerging actuators for agile locomotion", Proceedings of the International Conference on Climbing and Walking Robots, Istanbul, Turkey.
  13. Garcia, E., Sarria, J.F., Gonzalez-de-Santos, P. and Pestana, J. (2009b), Universal testbench for evaluation of actuators (In Spanish). Spanish National Research Council, CSIC. Patent ESP200931237.
  14. Garcia, E., Arevalo, J., Munoz, G. and Gonzalez-de-Santos, P. (2011a), "Combining series-elastic actuation and magneto-rheological damping for the control of agile locomotion", Robot. Auton. Syst., 59(10), 827-839. https://doi.org/10.1016/j.robot.2011.06.006
  15. Garcia, E., Arevalo, J., Sanchez, F., Sarria, J. and Gonzalez de Santos, P. (2011b), "Design and development of a biomimetic leg using hybrid actuators", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA.
  16. Van Ham, R., Sugar, T.G., Vanderborght, B., Hollander, K.W. and Lefeber, D. (2009), "Compliant actuator designs", IEEE Robot. Autom. Mag., 16(3), 81-94. https://doi.org/10.1109/MRA.2009.933629
  17. Hurst, J., Chestnutt, J. and Rizzi, A. (2010), "The actuator with mechanically adjustable series compliance", IEEE T. Robot., 26(4), 597-606. https://doi.org/10.1109/TRO.2010.2052398
  18. Kerscher, T., Albiez, J., Zoellner, J. and Dillmann, R. (2006), "Biomechanical inspired control for elastic legs", Proceedings of the 9th International Conference on Climbing and Walking Robots, Brussels, Belgium.
  19. Klute, G.K. and Hannaford, B. (2000), "Accounting for elastic energy storage in McKibben artificial muscle actuators", ASME J. Dyn. Syst. Meas. Control, 122(2), 386-388. https://doi.org/10.1115/1.482478
  20. Komatsubara, H., Tsujiuchi, N., Koizumi,T., Kan, H., Nakamura, Y. and Hirano, M. (2009), "Development and control of master-slave robot hand driven by pneumatic actuator", (Eds. H. Ulbrich and L. Ginzinger), Motion and Vibration Control, 201-210. Springer Netherlands.
  21. Kwa, H.K., Noorden, J.H., Missel, M., Craig, T., Pratt, J.E. and Neuhaus, P.D. (2009). "Development of the IHMC mobility assist exoskeleton", Proceedings of the IEEE International Conference on Robotics and Automation. Kobe, Japan.
  22. Mahfoud, J. and Der Hagopian, J. (2012), "Investigations on critical speed suppressing by using electromagnetic actuators", Smart Struct. Syst., 9(4), 303-311. https://doi.org/10.12989/sss.2012.9.4.303
  23. Mavroidis, C. (2002), "Development of advanced actuators using shape memory alloys and electrorheological fluids", Res. Nondestruct. Eval., 14(1), 1-32. https://doi.org/10.1080/09349840209409701
  24. Pestana, J., Bombin, R. and Garcia, E. (2010). "Characterization of magnetic shape memory alloys (MSMA) oriented to periodic actuation", Proceedings of the 2010 International Conference and Exhibition on New Actuators and Drive Systems (ACTUATOR), Bremen, Germany.
  25. Pratt, J. and Krupp, B. (2008), "Design of a bipedal walking robot", Proceedings of the 2008 SPIE, volume 6962.
  26. Pratt, J., Krupp, B. and Morse, C. (2002), "Series elastic actuators for high fidelity force control", Industrial Robot. Int. J., 29(3), 234-241. https://doi.org/10.1108/01439910210425522
  27. PTC (2007), Getting started with Pro/Engineer Wildfire 4.0, Parametric Technology Corporation, Needham, MA., USA.
  28. Robinson, D.W. (2000), Design and analysis of series elasticity in closed-loop actuator force control , Ph.D. thesis, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
  29. Robinson, D.W. and Pratt, G.A. (2000), "Force controllable hydro-elastic actuator", Proceedings of the IEEE International Conference on Robotics and Automation, April 24-28, 2000, San Francisco, CA, USA.
  30. Sawicki, G.S. and Ferris, D.P. (2009), "A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition", J. Neuroengineering Rehab., 6(1), 23-39. https://doi.org/10.1186/1743-0003-6-23
  31. Song, G., Ma, N., Li, L., Penney, N., Barr, T., Lee, H.J. and Arnold, S. (2011), "Design and control of a proof-of-concept active jet engine intake using shape memory alloy actuators", Smart Struct. Syst., 7(1), 1-13. https://doi.org/10.12989/sss.2011.7.1.001
  32. Suorsa, I., Tellinen, J., Pagounis, E., Aaltio, I. and Ullakko, K. (2006), "Applications of magnetic shape memory actuators", Proceedings of the ACTUATOR 2006, Bremen, Germany.
  33. Testek Inc. (2011), "Aircraft/Aerospace Electromechanical actuator test equipment", Online: http://www.parkerdenisonpk.com/hydraulic test stand/Electro Mechanical.pdf.
  34. Vanderborght, B., Verrelst, B., Van Ham, R., Van Damme, M., Lefeber, D., Meira Y Duran, B. and Beyl, P. (2006), "Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators", Int. J. Robot. Res., 25(4), 343-358. https://doi.org/10.1177/0278364906064566
  35. Vanderborght, B., Van Ham, R., Verrelst, B., Van Damme, M. and Lefeber, D. (2008), "Overview of the Lucy project: Dynamic stabilization of a biped powered by pneumatic artificial muscles", Adv. Robotics, 22(10), 1027-1051. https://doi.org/10.1163/156855308X324749
  36. Walsh, C.J. and Endo, K. (2007), "A quasi-passive leg exoskeleton for load-carrying augmentation", Int. J. Humanoid Robotics (IJHR), 4.