Development of elastic elements for series elastic actuators

Development of elastic elements for series elastic actuators

Vladislav M. Kopylov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Ingineer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-3490-1854

Received September 30, 2024

Abstract
The article solves the problem of optimizing the compliance of an elastic element for a SEA joint under known geometric and strength constraints. The optimal geometry for such an element is determined in general, the effect of free dimensions and geometry parameters on the characteristics of the hinge is investigated, and a general method for calculating the element optimal parameters in compliance for known initial data is given.

Key words
SEA jonts, torsion bar, flexible element.

Acknowledgements
The results were obtained as a part of the fulfillment of the state task of the Ministry of Education and Science of the Russian Federation for 2023 № 075-01595-23-00 «Research of structures and development of control methods for mechatronic assemblies with variable stiffness» (FNRG-2022-0009, registration number 1021060307688-8-2.2.2).

EDN
HICQFO

Bibliographic description
Kopylov, V.M. (2024), "Development of elastic elements for series elastic actuators", Robotics and Technical Cybernetics, vol. 13, no. 1, pp. 64-71, EDN: HICQFO. (in Russian).

UDC identifier
007.52:621.828.2

References

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