Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring
Abbood W.T. Nacy S.M. Youssef G. Abdullah O.I.
July 2022Springer Science and Business Media Deutschland GmbH
Intelligent Service Robotics
2022#15Issue 3275 - 287 pp.
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.
Dynamics and control , PID controller , Spiral springs , Variable stiffness actuators
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Automated Manufacturing Engineering Department, University of Baghdad, Baghdad, Iraq
Biomedical Engineering Department, University of Baghdad, Baghdad, Iraq
Experimental Mechanics Laboratory, Department of Mechanical Engineering, San Diego State University, San Diego, United States
Energy Engineering Department, University of Baghdad, Baghdad, Aljadria, 47024, Iraq
Hamburg University of Technology, Hamburg, Germany
Department of Mechanics, Al-Farabi Kazakh National University, Almaty, Kazakhstan
Automated Manufacturing Engineering Department
Biomedical Engineering Department
Experimental Mechanics Laboratory
Energy Engineering Department
Hamburg University of Technology
Department of Mechanics
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