Variable Recruitment of Parallel Elastic Elements: Series–Parallel Elastic Actuators (SPEA) With Dephased Mutilated Gears


The development and management of variable stiffness actuators (VSAs) led to the potential of embodying physical principles of safety and energy-efficiency compared to ancient stiff servomotors. But, the output torque range and efficiency of servomotors and VSAs are still insufficient which hinders the development of machines with performances corresponding to a personality's. We have developed a unique compliant actuation concept, series-parallel elastic actuation (SPEA), that addresses these issues. The novelty being the variable recruitment of parallel elastic parts and adaptive load cancellation. During this paper, we tend to propose the employment of multiple dephased mutilated gears with locking ring and plate, as intermittent mechanisms, linked in parallel to the motor. Therefore, the motor torque needs will be lowered, as such the motor can be downscaled and the efficiency can be drastically increased. Once an abstract description of the SPEA concept and an define of the biological basis, we tend to gift the primary unidirectional SPEA proof of concept (PoC) setup. Experiments on this PoC setup endorse the feasibility of the SPEA concept. The results match the modeled trend of a lowered motor torque and increased energy potency.

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