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An energy efficiency index for elastic actuators during resonant motion

Published online by Cambridge University Press:  04 October 2021

Andrea Calanca Open the ORCID record for Andrea Calanca [Opens in a new window]  and
Tom Verstraten Open the ORCID record for Tom Verstraten [Opens in a new window]
Andrea Calanca*
Affiliation:
Department of Computer Science, University of Verona - Verona, Italy
Tom Verstraten
Affiliation:
Robotics and Multibody Mechanics Research Group (R&MM), Vrije Universiteit Brussel/Flanders Make - Brussels, Belgium
*
*Corresponding author. E-mail: andrea.calanca@gmail.com
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Abstract

The energetic advantages of series and parallel elastic actuators have been characterized in the literature considering different elastic systems and different tasks. These characterizations usually determine the energy consumption of a specific system during a specific task and generalize poorly. This paper proposes an energetic characterization of elastic actuators, following an analytical approach, rather than a data-driven one. In particular, this work analyzes the energy consumption of elastic actuators during resonant motion and introduces a novel efficiency index. This index characterizes energy consumption as a function of inherent actuator parameters only, generalizing over the specific tasks. The proposed analysis is validated using simulations and experiments, demonstrating its coherence with analytical results.

Keywords

Energy EfficiencyPower ConsumptionSeries Elastic ActuatorsParallel Elastic ActuatorsPassive Dynamics
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1450 - 1474
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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