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CSME 2022/10
Volume 43 No.5
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389-398
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Design and Implementation of RC Servo Motor Based Miniature Series Elastic Actuators
Chung-Wei Leea and Jung-Hua Choua
aDepartment of Engineering Science,National Cheng Kung University, Tainan, Taiwan, ROC
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Abstract:
This paper presents a novel design andimplementation of a miniaturized series elasticactuator (SEA) with RC servo motor basedmechatronic architecture using a rotary type elasticelement. A pre-compressed and further stressedspring elastic element is applied to reduce torquenoises and to decrease the control complexity. Anon-invading modified servo design is used to cancelthe internal RC servo motor controller by an inversefunction method. An external cascaded controller isadded to improve the control capability of the RCservo motor based SEA. Moreover, an oscillationcontroller is implemented to achieve cyclic dynamicmotions such as hopping. Finally, the performance ofthe miniaturized SEA is demonstrated by the rotaryload arm testing module and the ES-RC hopping legmodule. The results show that the torque noise can bereduced to an acceptable level; the position andvelocity tracking perform well. Further the hoppingresults show that the energy-storage property of serieselastic actuator works well and an average hoppingheight of 16 mm can be achieved
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Keywords: actuator design, RC servo motor, miniaturized series elastic actuator, hopping
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©
2022
CSME , ISSN 0257-9731
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