A novel multi-mode elastic actuator is proposed based on the driving mechanism of human muscle. The actuator can achieve different motions through the motor driving the screw nut, series with spring and combing with the corresponding brake pads, and the motion mode is analyzed. The kinematics equations of elastic actuator are established, the bounce movement is studied driving by harmonic excitation, and the simulations of bounce movement under different mass load and stiffness conditions are implemented. The motion characteristics of elastic actuator are experimented, and the experiment of braking force, continuous hopping and single hopping are implemented. The results of experiments show that the elastic actuator can realize effective braking force, favorable continuous hopping, and favorable single hopping driving by hyperbolic tangent signal. The study of multi-mode elastic actuator provides important theoretical basis for the understanding of motion mechanism of bionic actuator.
HAN Yali1, 2, HAO Dabin2, YU Jianming2, QI Bing2, SONG Aiguo1, ZHU Songqing2
. Bounce Performance Study on Novel Multi-mode Elastic Actuator[J]. Journal of Mechanical Engineering, 2016
, 52(9)
: 96
-104
.
DOI: 10.3901/JME.2016.09.096
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