Towards a Modular Compliant Actuator Toolkit

doi:10.1007/978-3-032-01486-3_9

2026-01-01

PRE

Oliver Smith *

Swen E. Gaudl

Wu, Mingqiu

DOI：10.1007/978-3-032-01486-3_9

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柔性执行器与传统伺服执行器的区别在于其除了位置和速度外，还能感知和控制力。现有多种概念：无刷直流电机的力-力矩控制、具有物理弹性元件的串联弹性执行器（SEAs）以及通过刚度控制机制调节弹性元件物理刚度的可变刚度执行器（VSA）。然而，由于复杂性、多样性以及零件和制造的高成本，缺乏复现性，这阻碍了此类设备的发展、采用和应用。本文介绍了模块化柔性执行器工具包（MCAT）的概念，旨在促进低成本的设计、控制、制造和测试。MCAT由3D打印的板件组成，可组装成盒状柔性执行器，采用现成组件，并辅以相关硬件和代码。通过识别柔性执行器研发中的挑战并将其细分为MCAT的离散方面，用户可以专注于其特定研究，而无需前期的时间、劳动力和资金成本。此外，还介绍了低成本SEA原型的研究进展，并讨论了开发过程中的经验教训。

Keyword:

compliance

variable stiffness

series elastic actuator

robotics

期刊

TOWARDS AUTONOMOUS ROBOTIC SYSTEMS, TAROS 2025

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University of Plymouth

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7.2K

论文数: 6.8K

被引数: 9.3K

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