Design and Development of a Rotary Serial Elastic Actuator for Humanoid Arms
作者： Xijian Huo , Yanfeng Xia , Yiwei Liu , Li Jiang , Hong Liu
DOI: 10.1007/978-3-319-13966-1_27
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摘要: The paper discusses the design of a novel serial elastic actuator (SEA) which is used as revolute joint in humanoid arms. First, characteristics and requirements SEA are illustrated. And element further analyzed using experiment (DOE) method. Then, discoid with larger flexibility developed. Based on this, an integrated containing position sensors torque sensor also, 7-DOF arm flexibilities designed. Finally, experiments demonstrate approximation stiffness between desired prototype.
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sci-hub.st 参考文章(12)
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