Modeling, Analysis, and Experimental Validation of an Electric Linear Series Elastic Actuator for an Exoskeleton

Exoskeletons and humanoid robots require high-power, low-weight, and back-driveable actuators. This paper describes the design and analysis of a high-force linear series elastic actuator for a lower body exoskeleton. The actuator is powered by two motors and utilize a liquid cooling system to increase its maximum continuous torque. The actuator is capable of outputting a maximum continuous force of 4800N and a maximum speed of 0.267 m/s with a maximum continuous motor current of 18A. The Titanium leaf spring was used in the actuator to provide compliance. The spring has a median stiffness of 587 N/mm with standard deviation of 38 N/mm, validated by experiments. Dynamic model was created to analyze the normal modes and can be used for developing model-based controllers.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2020

Author dc:creator

• Pang, Zhoubao

Chairs dc:contributor.committeechair

• Leonessa, Alexander
• Asbeck, Alan T.

Committee member dc:contributor.committeemember

• Akbari Hamed, Kaveh

• Series Elastic Actuators
• Liquid Cooling System
• Dynamic Modeling
• Transfer Function
• Exoskeleton

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:26779

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/99159