Compliant piezo-flexdrives for muscle-like, antagonistic actuation of robot joints

Author

Szufnarowski, Filip ; Schneider, Axel

Author_Institution

Fac. of Technol., Univ. of Bielefeld, Bielefeld, Germany

fYear

2010

fDate

26-29 Sept. 2010

Firstpage

381

Lastpage

388

Abstract

This work presents a piezoelectric actuator suitable for actuation of small-sized robot joints. The actuator is provided with position and force sensors and elastic force transmission elements. A novel linear load-compensated actuator model is developed for the actuator. A force controller with the concept of a virtual tendon for tendon slack prevention is presented and applied to the actuator. The mechatronic systems which result from the combination of the actuator, sensors and control strategies are used in an antagonistic arrangement as bioinspired technical implementations of muscles which drive a 1-DOF joint.

Keywords

biomechanics; force control; force sensors; mechatronics; muscle; piezoelectric actuators; robots; 1-DOF joint; bioinspired technical implementations; compliant piezoflexdrives; elastic force transmission elements; force controller; force sensors; linear load-compensated actuator model; mechatronic systems; muscle-like antagonistic actuation; piezoelectric actuator; position sensors; robot joints; tendon slack prevention; virtual tendon; Actuators; Force; Frequency measurement; Joints; Mathematical model; Polynomials; Tendons;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on

Conference_Location

Tokyo

ISSN

2155-1774

Print_ISBN

978-1-4244-7708-1

Type

conf

DOI

10.1109/BIOROB.2010.5627722

Filename

5627722