Abstract
The active compliance control of series elastic actuator is based on the torque sensor composed of torsion spring and magnetic encoder, and its accuracy depends on the linearity of torsion spring. In this paper, a planar torsion spring with high linearity and small volume is designed for serial elastic actuator of robot. The design of planar torsion spring takes high linearity as the optimization objective under the premise of meeting the requirements of stiffness and bearing capacity. The finite element analysis results show that the structural nonlinear error of the planar torsion spring designed in this study is only 0.04%, which is reduced by more than 90% compared with the similar torsion spring. The mass is about 67 g, the stiffness is 1039 N m/rad, and the rated carrying capacity is 55 N m.
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Cheng, Y., Xia, X., Fu, Y., Sun, J., Zhang, P. (2023). Design of Planar Torsion Spring with High Linearity for Series Elastic Actuator. In: Jia, Y., Zhang, W., Fu, Y., Wang, J. (eds) Proceedings of 2023 Chinese Intelligent Systems Conference. CISC 2023. Lecture Notes in Electrical Engineering, vol 1090. Springer, Singapore. https://doi.org/10.1007/978-981-99-6882-4_39
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DOI: https://doi.org/10.1007/978-981-99-6882-4_39
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