430-431 2024 [추계학술대회]
| 제목 | 회전형 직렬탄성구동기(SEA) 탄성체 설계 변수 최적화 |
|---|---|
| 분야 | 지능형 샤시 및 제어 |
| 언어 | Korean |
| 저자 | 김희준(현대위아), 정연석(현대위아), 신수민(현대위아), 박명우(현대위아), 설준기(현대위아) |
| Key Words | Rotary Series Elastic Actuator(회전형 직렬탄성구동기), Elastic Component(탄성체), Elastic shaft(탄성체 샤 프트), Pugh Method(퓨 방법), Design of Experiment(실험계획법), Optimization(최적화) |
| 초록 |
Series Elastic Actuator(hereinafter referred to as SEA) is an actuator system which an elastic component is connected in series between a reducer and the system output instead of a torque sensor. By using the elastic component, a motor and reduction gears are protected from external impacts and has the advantage in force control over the use of high rigidity materials with small deformation. For these reasons, SEA has actively been applied in diverse robots so far, and R&D activities has been conducted to apply SEA in automobile fields. Since SEA controls force by measuring the amount of deformation of the elastic component, to make high performance SEA, elastic component needs to have high strength and low stiffness. In this study, we will be proceeding design optimization of a high-torque elastic component for a rotary series elastic actuator(SEA) for automobiles. |
| 원문(PDF) | 다운로드 |