Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring

Journal
Intelligent service robotics  
Volume
15
Issue
3
Start Page
275
End Page
287
Citation
Intelligent Service Robotics 15 (3): 275-287 (2022)
Publisher DOI
10.1007/s11370-022-00413-x
Scopus ID
2-s2.0-85124847261
Publisher
Springer
The present paper investigates a variable stiffness elastic actuator, which was adjusted using a special-purpose mechanism. A model was derived to obtain the response of the actuator. Concurrently, an experimental setup was designed and manufactured to validate the theoretical model. A novel control scheme is adopted to enhance the response through stiffness variation. Results showed that the time of response is reduced by 73% as compared to that of a constant stiffness actuator. In order to find the effectiveness of the proposed control scheme, a PID controller is implemented, where the response time was reduced by 58% using the former.
Subjects
Dynamics and control
PID controller
Spiral springs
Variable stiffness actuators
DDC Class
600: Technik