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Scaling laws of compliant elements for high energy storage capacity in robotics

Tijdschriftbijdrage - Tijdschriftartikel

The key component in compliant actuators is the elastic element, typically a spring. Nevertheless, different types of springs have different characteristics in terms of size, weight, maximum allowable force, maximum allowable torque and maximum allowable deflection.
It is however very important to compare them on these requirements, since each application has other demands.
In this paper, the energy storage capacity of different types of compliant elements are calculated using scaling laws in order to easily derive the maximum achievable energy capacity for a certain arrangement.
These scaling laws are given as a function of the structural parameters and are validated with catalog data of spring manufacturers and distributors such as Alcomex, Lesjöfors and Century Spring.
As such, different types of compliant elements can be compared in an easy way.
To fully exploit the capabilities of compliant elements, these scaling laws are used to verify the effect of spring parallelization on mass and/or enclosed volume, which is interesting regarding redundant compliant actuation.
From theoretical calculations and a case study, it follows that parallelization is beneficial, especially for mass reduction.
Tijdschrift: Mechanism & Machine Theory
ISSN: 0094-114X
Volume: 139
Pagina's: 482-505
Aantal pagina's: 24
Jaar van publicatie:2019
Trefwoorden:Compliant actuation, Energy storage capacity, Parallel arrangements, Scaling laws, Algemene en klassieke ingenieurswetenschappen