2024
DOI: 10.1002/aisy.202400079
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Novel Multi‐configuration Elastic Actuator with Controllable Energy Flow and Power Modulation for Dynamic Energy Robot Systems

Dunwen Wei,
Xiangyu Zhang,
Kunjian Yang
et al.

Abstract: Designing actuators that can modulate power, achieve high energy efficiency, and ensure safe collision remains a challenge, especially for dynamic energy robot systems (DERS) with high‐performance requirements. Herein, a novel multi‐configuration elastic actuator (MCEA) is proposed based on a controllable planetary differential mechanism (PDM) with one power port from three springs. These springs, positioned between the inner gear ring and the fixed housing shell, are regulated by a single servo motor through … Show more

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