Actuator
P Variable Imp
ve Imped by
co trol I here t complia ce
SEA VSA
Preload
Preload adjustme t of si sp
A ta s with depe de t
motors
A ta s sp with a ta s
motors
tr Cha ssio load to sp
Lever arm
Co uously variable tr ssio s
ear mech cal i t
Physical pr s of sp
Elas of modulus
Cros area
ve sp th
I here t dampi I al
Force/torque
Ini on
So on
Syste Design s Co-Design
Opt c
i
i jec
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 time (s)
-10 -5 0 5 10 15 20 25 30 35
load
( N m )
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
load
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0
20 40 60
to rq u e (N m )
ctrlopt
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s) -2000
-1000 0 1000 2000
fo rc e ( N )
ctrlopt
0 5 10 15 20 25 30 35 40 45 50 (Nm)
0 200 400 600 800 1000 1200 1400 1600 1800 2000
F ( N )
45 50
2000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 -20
0 20 40
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-400 -200 0
F
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0 20 40
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1000 -500
0
F0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
10 20 30
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s) -2000
-1000
0
F0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0
10 20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1000 -500
0
F0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
20 25 30
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-2000 -1000
0
F0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
35 40 45
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s) -2000
-1000
0
F0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 t (s)
0.16 0.18 0.2 0.22 0.24 0.26 0.28 0.3 0.32
di st . ( m )
@ = 44.75
@ = 43
@ = 41
@ = 38.5
@ = 36.5
@ = 34.25
@ = 30.75
@ = 29
@ = 25.75
@ = 22.5
@ = 19
@ = 16.5
@ = 13
@ = 11
@ = 6.5
@ = 3.5
@ = 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 -20
-10 0 10 20 30 40
when only M1 performs when only M2 performs
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1000 -800 -600 -400 -200 0 200
F when only M1 performs F when only M2 performs
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s) 0.24
0.25 0.26 0.27 0.28 0.29 0.3
s when only M1 performs s when only M2 performs
0 5 10 15 20 25 30 35 40 45 50 (Nm)
0 200 400 600 800 1000 1200 1400 1600 1800 2000
F ( N )
0 20 40 60 80 100 120 140 J 1 (Nm)
0 500 1000 1500 2000 2500
J 2 ( N )
Single spring preload based VSA
Lever type series VSA
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 -1600
-1400 -1200 -1000 -800 -600
J 1 ( N )
-2500 -2000 -1500 -1000 -500 0 500
J 1 ( N )
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s) -50
0 50 100
J 2 ( N m )
-50 0 50 100
J 2 ( N m )
Single spring preload based VSA Lever type series VSA
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 -1500
-1400 -1300 -1200 -1100 -1000
J 1 ( N )
-50 0 50
J 1 ( N )
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s) -50
0 50
J 2 ( N m )
-50 0 50
J 2 ( N m )
Single spring preload based VSA Lever type series VSA Single spring preload based VSA Lever type series VSA
