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research-article

Wrench Capability of a Stewart Platform with Series Elastic Actuators

[+] Author and Article Information
Chawin Ophaswongse

Student Member of ASME
co2393@columbia.edu

Rosemarie C Murray

Student Member of ASME
rcm2146@columbia.edu

Sunil K Agrawal

Professor, Fellow of ASME, Robotics and Rehabilitation Laboratory (ROAR Lab), Department of Mechanical Engineering, Columbia University, 220 S. W. Mudd Building, 500 West 120th Street, New York, New York 10027
sunil.agrawal@columbia.edu

1Corresponding author.

ASME doi:10.1115/1.4038976 History: Received September 21, 2017; Revised December 12, 2017

Abstract

This paper proposes a novel method for analyzing linear series elastic actuators in a parallel-actuated Stewart platform, which has full six degrees-of-freedom in position and orientation. Series elastic actuators can potentially provide a better human-machine interface for the user. However, in the study of parallel-actuated systems with full six degrees-of-freedom, the effect of compliance in series with actuators has not been adequately studied from the perspective of wrench capabilities. We found that some parameters of the springs and the stroke lengths of the linear actuators play a major role in the actuation limits of the system. This is an important consideration when adding series elastic actuators into a Stewart platform or other parallel-actuated robots to improve their human usage.

Copyright (c) 2018 by ASME
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