A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots
Bonhyun Ku, Sunyu Wang, Arijit Banerjee
Abstract
This paper presents a distributed six-link two-dimensional electromechanical actuator that emulates a biological spine. The gearless actuator is made by stacking modules of E-shaped cores along with integrated springs. A coil excitation induces magnetic flux in the core, which produces electromechanical force in the air gap between two adjacent cores. The proposed actuator is driven by dc-dc converters with current control. Electromechanical force analysis for the proposed spine architecture with different air-gap distances and spring analysis that improve the actuator's performance are discussed. Experimental results show different biological motions with a prototype design. The prototype can produce a maximum torque of 1.4 N-m.
BibTeX
@inproceedings{iros2019_aspringaidedtwod,
title = {A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots},
author = {Bonhyun Ku and Sunyu Wang and Arijit Banerjee},
booktitle = {IROS 2019},
year = {2019}
}