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A novel concept and impedance schematic analysis for nonlinear stiffness compliant actuator (NSCA)

机译：非线性刚度兼容执行器（NSCA）的新颖概念和阻抗示意图分析

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摘要

This paper proposed a new concept about compliant actuators used in robot and environment interaction that is “high load, high stiffness and low load, low stiffness” with respect to the decoupled variable stiffness actuators (VSA), because most of VSA could control position and stiffness independently, where some performance is not necessary in robot and environments or human interaction. To explicit tradeoff between external load and actuators stiffness, the novel nonlinear stiffness compliant actuator (NSCA) based on nonlinear stiffness elastic components was designed. On one hand, sense tiny force in low interaction; on other hand, ensure systematic bandwidth in high interaction force. In this paper, the mechanical structure of the NSCA, dynamic equations of the SEA are established. Impedance control algorithm and hardware circuit are then presented. At last, simulation and experiment are conducted to validate the performance of the NSCA. The results show high performance of controlling the NSCA.
机译：本文提出了一个关于机器人和环境相互作用中使用的兼容执行器的新概念，即相对于解耦的可变刚度执行器（VSA），它是“高负载，高刚度和低负载，低刚度”，因为大多数VSA可以控制位置和刚性独立，在机器人和环境或人类互动中不需要某些性能的地方。为了明确权衡外部载荷和执行器刚度，设计了基于非线性刚度弹性分量的新型非线性刚度顺应执行器（NSCA）。一方面，在低互动中感觉到很小的力;另一方面，在高交互作用力下确保系统带宽。本文建立了NSCA的机械结构，SEA的动力学方程。然后给出了阻抗控制算法和硬件电路。最后，通过仿真和实验验证了NSCA的性能。结果显示出控制NSCA的高性能。

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