A novel selective compliant actuator

    Research output: Contribution to journalArticle

    48 Citations (Scopus)

    Abstract

    A novel design for a selective compliant actuator is described that can easily control the external force or stiffness applied to an object. Our design solution consists of a spring attached in series to a linear actuator driven by a DC servomotor. In the design methodology, the plant is altered to achieve the best possible mechanical design and control solution. The actuator can be used in many applications and it has been used in robotics applying forces to insure grasp stability. The actuator can easily interact with an unstructured environment and does not have any instability when it contacts an object.

    Original languageEnglish (US)
    Pages (from-to)1157-1171
    Number of pages15
    JournalMechatronics
    Volume12
    Issue number9-10
    DOIs
    StatePublished - Nov 2002

    Fingerprint

    Actuators
    Linear actuators
    Servomotors
    Springs (water)
    Robotics
    Stiffness

    Keywords

    • Compliance
    • Force control
    • Spring actuator
    • Stiffness control

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Mechanical Engineering

    Cite this

    A novel selective compliant actuator. / Sugar, Thomas G.

    In: Mechatronics, Vol. 12, No. 9-10, 11.2002, p. 1157-1171.

    Research output: Contribution to journalArticle

    Sugar, Thomas G. / A novel selective compliant actuator. In: Mechatronics. 2002 ; Vol. 12, No. 9-10. pp. 1157-1171.
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