A spring-embedded planetary-geared parallel elastic actuator

Ronnapee Chaichaowarat, Jun Kinugawa, Akira Seino, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Parallel elastic actuation utilizing an elastic spring to reduce the required actuator torque is one energy-efficient strategy suitable for various mechatronic applications relating to asymmetric torque requirements. This paper presents a novel concentric drivetrain configuration of a parallel elastic actuator (PEA) embedding a torsion spring in the intermediate gearing stage of a planetary gear mechanism between the sun gear and the carrier, connected to the input shaft and the external load respectively. In addition to the input torque amplified by a gear ratio N, the output torque of the actuator is enhanced by the spring moment amplified by the ratio N-1. An alpha prototype was developed and tested with and without the controlled input torque in order to evaluate the output torque varying against the spring deformation. This proposed concept provides an alternative design solution of PEA using a low-inertia motor in combination with a low-stiffness spring. Connecting the spring arms to the carrier instead of the fixed ring gear not only allows the elastic component to support the load directly but also helps reduce the backlash between the sun gear and the planet gears through the loaded spring.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages952-959
Number of pages8
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - 2020 Jul
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: 2020 Jul 62020 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
CountryUnited States
CityBoston
Period20/7/620/7/9

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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