Smart Structures and Systems

Techno-Press (테크노프레스)
권호 표지
DOI QR코드

DOI QR Code

Analysis of system dynamic influences in robotic actuators with variable stiffness

  • Beckerle, Philipp (Institute for Mechatronic Systems in Mechanical Engineering, Technische Universitat Darmstadt) ;
  • Wojtusch, Janis (Simulation, Systems Optimization and Robotics Group, Technische Universitat Darmstadt) ;
  • Rinderknecht, Stephan (Institute for Mechatronic Systems in Mechanical Engineering, Technische Universitat Darmstadt) ;
  • von Stryk, Oskar (Simulation, Systems Optimization and Robotics Group, Technische Universitat Darmstadt)
  • Received : 2013.04.30
  • Accepted : 2013.12.14
  • Published : 2014.04.25
⟨ Previous Next ⟩

Abstract

In this paper the system dynamic influences in actuators with variable stiffness as contemporary used in robotics for safety and efficiency reasons are investigated. Therefore, different configurations of serial and parallel elasticities are modeled by dynamic equations and linearized transfer functions. The latter ones are used to identify the characteristic behavior of the different systems and to study the effect of the different elasticities. As such actuation concepts are often used to reach energy-efficient operation, a power consumption analysis of the configurations is performed. From the comparison of this with the system dynamics, strategies to select and control stiffness are derived. Those are based on matching the natural frequencies or antiresonance modes of the actuation system to the frequency of the trajectory. Results show that exclusive serial and parallel elasticity can minimize power consumption when tuning the system to the natural frequencies. Antiresonance modes are an additional possibility for stiffness control in the series elastic setup. Configurations combining both types of elasticities do not provide further advantages regarding power reduction but an input parallel elasticity might enable for more versatile stiffness selection. Yet, design and control effort increase in such solutions. Topologies incorporating output parallel elasticity showed not to be beneficial in the chosen example but might do so in specific applications.

Keywords

References

  1. Albu-Schaffer, A. (2001), Regelung von Robotern mit elastischen Gelenken am Beispiel der DLRLeichtbauarme, Ph.D. Dissertation, Technische Universitat Munchen, Munich.
  2. Beckerle, P., Wojtusch, J., Rinderknecht, S. and von Stryk, O (2013), "Mechanical influences on the design of actuators with variable stiffness", Proceedings of the 6th International Symposium On Adaptive Motion Of Animals And Machines, Darmstadt, March.
  3. Beckerle, P., Wojtusch, J., Schuy, J., Strah, B., Rinderknecht, S. and von Stryk, O. (2013), "Power-optimized stiffness and nonlinear position control of an actuator with variable torsion stiffness", Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, July.
  4. Choi, J., Hong, S., Lee, W., Kang, S. and Kim, M. (2011), "A robot joint with variable stiffness using leaf springs", IEEE T. Robot., 27, 229-238. https://doi.org/10.1109/TRO.2010.2100450
  5. Craig, R.R. and Kurdila, A.J. (2011), Fundamentals of structural dynamics, John Wiley & Sons, Hoboken, New Jersey, United States.
  6. Eiberger, O., Haddadin, S., Weis, M., Albu-Schaffer, A. and Hirzinger, G. (2010), "On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint", Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, May.
  7. Eslamy, M., Grimmer, M. and Seyfarth, A. (2012), "Effects of unidirectional parallel springs on required peak power and energy in powered prosthetic ankles: comparison between different active actuation concepts", Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guangzhou, December.
  8. Eslamy, M., Grimmer, M., Rinderknecht, S. and Seyfarth, A. (2013), "Does it pay to have a damper in a powered ankle prosthesis? A Power-Energy Perspective", Proceedings of the IEEE International Conference on Rehabilitation Robotics, Seattle, June.
  9. Grimmer, M., Eslamy, M., Gliech, S. and Seyfarth, A. (2012), "A comparison of parallel-and series elastic elements in an actuator for mimicking human ankle joint in walking and running", Proceedings of the IEEE International Conference on Robotics and Automation, St. Paul, May.
  10. Groothuis, S.S., Rusticelli, G., Zucchelli, A., Stramigioli, S. and Carloni, R. (2012), "The vsaUT-II: a novel rotational variable stiffness actuator", Proceedings of the IEEE International Conference on Robotics and Automation, St. Paul, May.
  11. Hollander, K.W., Sugar, T.G. and Herring, D.E. (2005), "Adjustable robotic tendon using a 'Jack Spring'", Proceedings of the IEEE International Conference on Rehabilitation Robotics, Chicago, June.
  12. Hurst, J.W., Chestnutt, J.E., and Rizzi, A.A. (2004), "An actuator with physically variable stiffness for highly dynamic legged locomotion", Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, April.
  13. Jafari, A., Tsagarakis, N.G. and Caldwell, D.G. (2011), "AwAS-II: A new Actuator with Adjustable Stiffness based on the novel principle of adaptable pivot point and variable lever ratio", Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, May.
  14. Jafari, A., Tsagarakis, N.G., Vanderborght, B. and Caldwell, D.G. (2010), "A novel actuator with adjustable stiffness (AwAS)", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, October.
  15. Kim, B. and Song, J. (2010), "Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism", Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, May.
  16. Koganezawa, K., Shimizu, Y., Inomata, H. and Nakazawa, T. (2004), "Actuator with Non Linear Elastic System (ANLES) for controlling joint stiffness on antagonistic driving", Proceedings of the IEEE International Conference on Robotics and Biomimetics, Shenyang, August.
  17. Laffranchi, M., Tsagarakis, N. and Caldwell, D.G. (2011), "A compact compliant actuator (CompAct) with variable physical damping", Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, May.
  18. Lens, T. and von Stryk, O. (2012), "Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, October.
  19. De Luca, A. (2000), "Feedforward/feedback laws for the control of flexible robots", Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, April.
  20. Mettin, U., La Hera, P.X., Freidovich, L.B. and Shiriaev, A.S. (2009), "Parallel elastic actuators as a control tool for preplanned trajectories of underactuated mechanical systems", Int. J. Robot. Res., 29(9), 1186-1198.
  21. Migliore, S.A., Brown, E.A., and DeWeerth, S.P. (2005), "Biologically inspired joint stiffness control", Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, April.
  22. Mitrovic, D., Klanke, S., Howard, M. and Vijayakumar, S. (2010), "Exploiting sensorimotor stochasticity for learning control of variable impedance actuators", Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Nashville, December.
  23. Morita, T. and Sugano, S. (1995), "Design and development of a new robot joint using a mechanical impedance adjuster", Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, May.
  24. Morita, T. and Sugano, S. (1997), "Development and Evaluation of Seven-D.O.F. MIA ARM", Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, May.
  25. Pratt, G.A. and Williamson, M.M. (1995), "Series elastic actuators", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, August.
  26. Quy, H.V., Aryananda, L., Sheikh, F.I., Casanova, F. and Pfeifer, R. (2011), "A novel mechanism for varying stiffness via changing transmission angle", Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, May.
  27. Rao, S., Carloni, R. and Stramigioli, S. (2011), "A novel energy-efficient rotational variable stiffness actuator", Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, August.
  28. Schiavi, R., Grioli, G., Sen, S. and Bicchi, A. (2008), "VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans", Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, May.
  29. Schuy, J., Beckerle, P., Wojtusch, J., Rinderknecht, S. and von Stryk, O. (2012), "Conception and evaluation of a novel variable torsion stiffness for biomechanical applications", Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics, Roma, June.
  30. Song, J. and Kim, B. (2010), "Three types of dual actuator units for variable impedance actuation", Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, May.
  31. Stienen, A.H., Hekman, E.E., ter Braak, H., Aalsma, A.M., van der Helm, F.C. and van der Kooij, H. (2008), "Design of a rotational hydro-elastic actuator for an active upper-extremity rehabilitation exoskeleton", Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October.
  32. Stramigioli, S., van Oort, G. and Dertien, E. (2008), "A concept for a new energy efficient actuator", Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronis, Xi'An, July.
  33. Sulzer, J.S., Peshkin, M.A. and Patton, J.L. (2005), "MARIONET: an exotendon-driven rotary series elastic actuator for exerting joint torque", Proceedings of the IEEE International Conference on Rehabilitation Robotics,Chicago, June.
  34. Thorson, I., Svinin, M. and Hosoe, S. (2007), "Design considerations for a variable stiffness actuator in a robot that walks and runs", Proceedings of the Robotics and Mechatronics Conference, Akita, May.
  35. Tonietti, G., Schiavi, R. and Bicchi, A. (2005), "Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction", Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, April.
  36. Tsagarakis, N.G., Laffranchi, M., Vanderborght, B. and Caldwell, D.G. (2009), "A compact soft actuator unit for small scale human friendly robots", Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, May.
  37. Umedachi, T. and Ishiguro, A. (2006), "A development of a fully self-contained real-time tunable spring", Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Beijing, October.
  38. van Ham, R., Sugar, T. G., Vanderborght, B., Hollander, K. W. and Lefeber, D. (2009), "Compliant actuator designs review of actuators with passive adjustable compliance/controllable stiffness for robotic applications", IEEE Robot. Autom. Mag., 16(3), 81-94.
  39. Vanderborght, B., van Ham, R., Lefeber, D., Sugar, T.G. and Hollander, K.W. (2009), "Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators", Int. J. Robot. Res,, 28, 90-103. https://doi.org/10.1177/0278364908095333
  40. Vanderborght, B., Tsagarakis, N.G., Semini, C., van Ham, R. and Caldwell, D.G. (2009), "MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping", Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, May.
  41. Vanderborght, B., Verrelst, B., van Ham, R., Damme, M., Beyl, P. and Lefeber, D. (2008), "Development of a compliance controller to reduce energy consumption for bipedal robots", Auton. Robot., 24(4), 419-434. https://doi.org/10.1007/s10514-008-9088-5
  42. Verrelst, B., Daerden, F., Lefeber, D., van Ham, R. and Fabri, T. (2000), "Introducing pleated pneumatic artificial muscles for the actuation of legged robots: a one-dimensional set-up", Proceedings of the Climbing and Walking Robots, Madrid, October.
  43. Wolf, S. and Hirzinger, G. (2008), "A new variable stiffness design: Matching requirements of the next robot generation", Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, May.

Cited by

  1. Modeling and design of geared DC motors for energy efficiency: Comparison between theory and experiments vol.30, 2015, https://doi.org/10.1016/j.mechatronics.2015.07.004
  2. Energy Consumption of Geared DC Motors in Dynamic Applications: Comparing Modeling Approaches vol.1, pp.1, 2016, https://doi.org/10.1109/LRA.2016.2517820
  3. Practical relevance of faults, diagnosis methods, and tolerance measures in elastically actuated robots vol.50, 2016, https://doi.org/10.1016/j.conengprac.2016.02.006
  4. Series and Parallel Elastic Actuation: Impact of natural dynamics on power and energy consumption vol.102, 2016, https://doi.org/10.1016/j.mechmachtheory.2016.04.004
  5. Series and Parallel Elastic Actuation: Influence of Operating Positions on Design and Control vol.22, pp.1, 2017, https://doi.org/10.1109/TMECH.2016.2621062
  6. Study on electric energy consumed in intermittent series–parallel elastic actuators (iSPEA) vol.12, pp.3, 2017, https://doi.org/10.1088/1748-3190/aa664d
  7. Realization of Artificial Nonlinear Spring with Controllable Stiffness vol.09, pp.08, 2017, https://doi.org/10.1142/S1758825117501198
  8. Probabilistic Elastic Element Design for Robust Natural Dynamics of Structure-Controlled Variable Stiffness Actuators vol.10, pp.1, 2018, https://doi.org/10.1115/1.4038648
  9. Natural Motion for Energy Saving in Robotic and Mechatronic Systems vol.9, pp.17, 2014, https://doi.org/10.3390/app9173516