Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements

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1 Citation (Scopus)
36 Downloads (Pure)

Abstract

We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.
Original languageEnglish
Title of host publication2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
PublisherIEEE
Pages166-173
Number of pages8
ISBN (Electronic)9781665456807
ISBN (Print)978-1-6654-5681-4
DOIs
Publication statusPublished - 24 Jan 2023
EventIEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022 - Sevilla, Spain
Duration: 8 Nov 202210 Nov 2022

Conference

ConferenceIEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022
Abbreviated titleSSRR 2022
Country/TerritorySpain
CitySevilla
Period8/11/2210/11/22

Keywords

  • Actuators
  • Analytical models
  • Torque
  • Magnetoelasticity
  • Prototypes
  • Bandwidth
  • Magnetic analysis
  • 2023 OA procedure

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