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Actuators 2017, 6(3), 26; https://doi.org/10.3390/act6030026

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Department of Robotics Engineering, DGIST (Daegu Gyeongbuk Institute of Science and Technology), Daegu 42988, Korea
These authors contributed equally to this work.
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Received: 1 May 2017 / Revised: 30 July 2017 / Accepted: 15 August 2017 / Published: 22 August 2017
(This article belongs to the Special Issue Variable Stiffness and Variable Impedance Actuators)
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Abstract

The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to satisfy many requirements necessary for the applications. This paper provides a theoretical framework to categorize and compare these various configurations of SEAs. The general structure and model of SEA is provided, and SEA configurations are categorized into Force-sensing Series Elastic Actuator, Reaction Force-sensing Series Elastic Actuator and Transmitted Force-sensing Series Elastic Actuator, based on the relative location of the spring. Criteria such as Force sensitivity, Compliance and Transmissibility of SEA are derived and compared using actual SEAs that have been developed previously. View Full-Text
Keywords: Variable Impedance Actuator (VIA); Series Elastic Actuator (SEA); FSEA; RFSEA; TFSEA; compliant element; categorization; design criteria; performance; transmissibility Variable Impedance Actuator (VIA); Series Elastic Actuator (SEA); FSEA; RFSEA; TFSEA; compliant element; categorization; design criteria; performance; transmissibility
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Lee, C.; Kwak, S.; Kwak, J.; Oh, S. Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison. Actuators 2017, 6, 26.

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