Joint Actuation Based on Highly Dynamic Torque Transmission Elements – Concept and Control Approaches
Electric motors clearly constitute the most common drive principle in robotics and mechatronics. Smart materials, however, offer considerably higher power-to-mass ratios than electric motors. If mechanical energy instead of electrical energy can be distributed through a system, highly dynamic and efficient torque transmission elements based on smart materials, e.g. piezoceramics, can be used to transmit torque from an input to an output element. Just like electric motors, they can thus provide position, velocity, and forcetorque control of the output element. This paper introduces machine components, called adaptronic couplers, which can transmit variable torques highly dynamically from an input element to an output element employing static and/or dynamic friction. In the long run, systems (e.g. robots) based on these machine components are envisaged to compete with systems based on classic drive principles - especially electric motors - w.r.t. dynamics and power-to-mass-ratio. Apart from the concept itself, this paper addresses different control approaches and discusses their influence on energy consumption and wear. Moreover, various experimental results proving the basic concept are presented.
Daniel Kubus David Inkermann Thomas Vietor Friedrich M. Wahl
Institut f(u)r Robotik und Prozessinformatik,Technische Universit(a)t Braunschweig,Germany Institut f(u)r Konstruktionstechnik,Technische Universit(a)t Braunschweig,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2777-2784
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）