Design of a New Type of SEA Structure and Optimization of Elastic Elements

Li Yuqing; Liu Ning

doi:10.16578/j.issn.1004.2539.2023.11.019

您当前的位置：

首页 >

文章列表页 >

Design of a New Type of SEA Structure and Optimization of Elastic Elements

Test·Analysis | 更新时间：2023-12-01

- Design of a New Type of SEA Structure and Optimization of Elastic Elements
- Journal of Mechanical Transmission Vol. 47, Issue 11, Pages: 129-134(2023)
- 作者机构：
  
  长春职业技术学院机电学院，吉林长春 130033
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.11.019
  CLC：
- Published：15 November 2023，
  
  Received：01 January 2023，
  
  Revised：19 January 2023，
扫描看全文
李玉青,刘宁.一种新型SEA结构设计及弹性单元优化研究[J].机械传动,2023,47(11):129-134.

Li Yuqing,Liu Ning.Design of a New Type of SEA Structure and Optimization of Elastic Elements[J].Journal of Mechanical Transmission,2023,47(11):129-134.
李玉青,刘宁.一种新型SEA结构设计及弹性单元优化研究[J].机械传动,2023,47(11):129-134. DOI： 10.16578/j.issn.1004.2539.2023.11.019.

Li Yuqing,Liu Ning.Design of a New Type of SEA Structure and Optimization of Elastic Elements[J].Journal of Mechanical Transmission,2023,47(11):129-134. DOI： 10.16578/j.issn.1004.2539.2023.11.019.

摘要

为了满足康复机器人肘关节运动要求，采用一种应用于串联弹性执行器（Series Elastic Actuator，SEA）的双节点对称螺旋波纹结构弹性单元，将储能比作为优化标准，在相同质量前提下能达到最大储能比，可以更好地吸收机械手臂的振动、保证患者的安全。首先，对SEA进行三维建模；其次，利用有限元软件对转矩弹簧进行仿真分析，得到该弹性单元的安全系数为2.37；最后，加工出实物。实验表明，该弹性单元储能比可达9.63 J/kg，实测刚度

=264.04 N

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=50768537&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=50768485&type=

1.86266661

2.62466669

m/rad，与模拟刚度的误差为6.86%，且弹性单元的扭转角与转矩呈线性关系，可用于机械手臂柔性连接，为进一步优化机器人打下基础，同时也为解决此类问题提供了一种技术验证手段。

Abstract

In order to meet the motion requirements of the elbow joint of the rehabilitation robot

a double-node symmetrical spiral corrugated elastic element is applied to the series elastic actuator (SEA)

and the energy storage ratio is used as the optimization standard. Under the premise of the same quality

the maximum energy storage ratio can be achieved

which can better absorb the vibration of the mechanical arm and ensure the safety of the patient. Firstly

the three-dimensional modeling of the SEA is carried out. Then the torque spring is simulated and analyzed by using the finite element software

and the safety factor of the elastic unit is 2.37. Finally

the real object is processed. The experiment shows that the energy storage ratio can reach 9.63 J/kg

the measured stiffness

is 264.04 N

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=50768541&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=50768540&type=

1.86266661

2.62466669

m/rad

the error of the simulated stiffness is 6.86%

and the torsion angle and torque of the elastic unit are linear and can be used for the flexible connection of the robotic arm

which lays the foundation for the further optimization of the robot

and also provides a technical verification method for solving such problems.

关键词

串联弹性执行器弹性单元储能比有限元分析

Keywords

Series elastic actuatorElastic unitEnergy storage ratioFinite element analysis

references

王存堂，任飞，谢方伟，等.基于SEA柔性驱动的动力学模型频域特性研究［J］.机械制造，2015，53（12）：31-36.

WANG Cuntang，REN Fei，XIE Fangwei，et al.Research on frequency domain characteristics of dynamic model based on SEA flexible drive［J］.Machinery，2015，53（12）：31-36.

CHEN C F，WU D M，DONG W，et al.Design of a series elastic actuator with double-layer parallel spring for lower limb exoskeletons［C］//2019 IEEE International Conference on Robotics and Biomimetics （ROBIO）.IEEE，2019：2013-2018.

CARPINO G，ACCOTO D，SERGI F，et al.A novel compact torsional spring for series elastic actuators for assistive wearable robots［J］.Journal of Mechanical Design，2012，134（12）：121002.

朱秋国，熊蓉，吕铖杰，等.新型串联弹性驱动器设计与速度控制［J］.电机与控制学报，2015，19（6）：83-88.

ZHU Qiuguo，XIONG Rong，LÜ Chengjie，et al.Design and speed control of a new series flexible drive［J］.Electric Machines and Control，2015，19（6）：83-88.

LONG Y，DU Z J，CHEN C F，et al.Development of a lower extremity wearable exoskeleton with double compact elastic module： preliminary experiments［J］.Mechanical Sciences，2017，8（2）：249-258.

LIU H，CUI S P，LIU Y W，et al.Design and vibration suppression control of a modular elastic joint［J］.Sensors （Basel，Switzerland），2018，18（6）：79-81.

向小健.仿生对抗变刚度驱动关节的研究与设计［D］.沈阳：东北大学，2014：66-69.

XIANG Xiaojian.Research and design of bionic anti-variable stiffness drive joints［D］.Shenyang：Northeastern University，2014：66-69.

梁涛，梁延德，何福本.基于串联弹性驱动器的柔顺机械臂设计与仿真［J］.组合机床与自动化加工技术，2020（2）：145-148.

LIANG Tao，LIANG Yande，HE Fuben.Design and simulation of a compliant manipulator based on a series elastic actuator［J］.Modular Machine Tool and Automatic Manufacturing Technique，2020（2）：145-148.

蒋聪，孙恺，何广平.串联弹性驱动器内嵌扭矩传感器的研究［J］.仪表技术与传感器，2020（3）：15-21.

JIANG Cong，SUN Kai，HE Guangping.Research on the built-in torque sensor in series elastic actuator［J］.Instrument Technique and Sensor，2020（3）：15-21.

辛洪旭.一种基于弹簧片的变刚度驱动器设计与研究［D］.西安：西安电子科技大学，2019：35-38.

XIN Hongxu. Design and research of a variable stiffness actuator based on spring plate［D］.Xi´an： Xidian University，2019：35-38.

程冠铭，孟青云，胡冰山，等.下肢助行外骨骼髋关节串联弹性驱动器弹性单元优化设计研究［J］.生物医学工程与临床，2019，23（5）：503-510.

CHENG Guanming，MENG Qingyun，HU Bingshan，et al.Research on the optimization design of the elastic unit of the lower limb assisted exoskeleton hip joint series elastic actuator［J］.Biomedical Engineering and Clinical Medicine，2019，23（5）：503-510.

张秀丽，夏旭.基于串联弹性驱动器的并联柔顺手腕的设计［J］.北京交通大学学报，2017，41（4）：104-110.

ZHANG Xiuli，XIA Xu.The design of parallel compliant wrist based on series elastic actuator［J］.Journal of Beijing Jiaotong University，2017，41（4）：104-110.

SAERENS E，FURNEMONT R，VERSTRATEN T，et al.Scaling laws of compliant elements for high energy storage capacity in robotics［J］.Mechanism and Machine Theory，2019，139：482-505.

史延雷，张明路，张小俊，等.一种旋转型机器人柔性关节设计与分析［J］.中国机械工程，2016，27（18）：2494-2500.

SHI Yanlei，ZHANG Minglu，ZHANG Xiaojun，et al.Design and analysis of flexible joints for a rotating robot［J］.China Mechanical Engineering，2016，27（18）：2494-2500.

张亚平，周建军，陈耀，等.含弹性环的机器人关节变刚度驱动器设计分析［J］.机械科学与技术，2015，34（2）：199-203.

ZHANG Yaping，ZHOU Jianjun，CHEN Yao，et al.Design and analysis of variable stiffness actuators for robot joints with elastic rings［J］.Mechanical Science and Technology for Aerospace Engineering，2015，34（2）：199-203.

张秀丽，谷小旭，赵洪福，等.一种基于串联弹性驱动器的柔顺机械臂设计［J］.机器人，2016，38（4）：385-394.

ZHANG Xiuli，GU Xiaoxu，ZHAO Hongfu，et al.Design of a compliant manipulator based on series elastic actuator［J］.Robot，2016，38（4）：385-394.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Natural Frequency Analysis of Permanent Magnet Eddy Current Couplings Based on the Riccati Transfer Matrix Method

Lightweight Design and Verification of Housings of Helicopter Reducers with Carbon Fiber Reinforced Composites

Design and Optimization Analysis of a Through Shaft Inner Rotor Electric Bicycle Reducer Device

Contact Performance Numerical Simulation and Analysis of Gear Skiving

Study on Performance of Large Megawatt Offshore Wind Turbine Couplings

Related Author

Xu Chengxi

Wang Jian

Yan Yuesheng

Wang Jichong

Cai Zhijie

Yin Hongling

Peng Xiongqi

Xiong Junkai

Related Institution

School of Automation, Nanjing Institute of Technology

AECC Hunan Aviation Powerplant Research Institute

School of Materials Science and Engineering, Shanghai Jiaotong University

School of Advanced Manufacturing, Nanchang University

School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University

⁰