Series elastic actuator capable of measuring precise external forces and its manufacturing method

Abstract

One embodiment of the present invention provides a series elastic actuator capable of precise external force measurement, comprising a driving unit that provides power, an input unit that receives an external force from the outside, and an elastic unit that is connected to the driving unit and the input unit respectively and undergoes elastic deformation as the external force acts on the input unit, wherein the elastic unit is composed of a torsion spring having a rotational elastic modulus corresponding to a range of magnitudes of the external force for which the precision measurement is intended.

Description

Technology Field

[0001] The present invention relates to a series elastic actuator capable of precise external force measurement. Background Technology

[0002] Generally, a Series Elastic Actuator (SEA) is a actuator in which a specific elastic element is connected in series to the drive shaft of a power source, such as a motor. Due to the coupled elastic element, the Series Elastic Actuator can flexibly adapt to external forces, and since the external force can be determined by measuring the displacement of the elastic element, this can be utilized for feedback control of the Series Elastic Actuator.

[0003] Conventionally, such series elastic actuators utilized linear springs, such as tension-compression springs. Consequently, due to the linear relationship between the external force and the strain of the elastic body, the precision of external force measurement remained constant across the entire range of external force magnitudes, presenting a problem in that precision could not be improved within the range of external forces desired by the user.

[0004] The background technology of the present invention is disclosed in Korean Registered Patent Publication No. 10-1785067 (Registered September 28, 2017; Title of Invention: Arc-type Compression Spring Module for Serial Elastic Actuator). The problem to be solved

[0005] The technical problem to be solved by the present invention is to provide a series elastic actuator capable of precisely measuring an external force within a preset range of external force magnitude by arranging an elastic part consisting of a torsion spring having a preset rotational elastic modulus between a driving part and an input part. means of solving the problem

[0006] One aspect of the present invention comprises: a driving unit that provides power; an input unit that receives an external force from the outside; and an elastic unit that is connected to the driving unit and the input unit, respectively, and undergoes elastic deformation as the external force acts on the input unit; wherein the elastic unit has a rotational elastic modulus (corresponding to a magnitude range of the external force that is the purpose of precision measurement). A series elastic actuator capable of precise external force measurement is provided, characterized by being composed of a torsion spring having ).

[0007] In addition, one end of the elastic part is connected to the driving part, and the other end of the elastic part opposite to the one end is connected to the input part, and the distance deformation rate between the one end and the other end changes as an external force acts on the input part ( It may further include a measuring part capable of measuring )

[0008] In addition, the magnitude of the external force provided to the input part is the distance deformation rate between the one end and the other end of the elastic part ( It can be a non-linear relationship with ).

[0009] In addition, the rotational elastic modulus of the above elastic part ( ) is the minimum value of the external force that is the purpose of precise measurement ( ) and the minimum distance deformation rate between the one end and the other end of the elastic part capable of precise measurement ( It can be determined by ).

[0010] In addition, the initial angle of the elastic part ( ) can be determined according to the precision of the external force measurement, and the initial angle ( ) is the angle formed by the other end of the elastic part opposite to the first end when no external force is input from the input part.

[0011] Another aspect of the present invention is a step of obtaining external force information for the purpose of precise measurement; using the external force information, a rotational elastic modulus of an elastic part capable of elastic deformation, disposed between a driving part that provides power and an input part that receives the external force ( A step of determining ); and the determined rotational elastic modulus ( A method for manufacturing a series elastic actuator capable of precise external force measurement is provided, characterized by including the step of connecting an elastic part having ) to the driving part and the input part, respectively.

[0012] In addition, the step of acquiring the above external force information includes the minimum value of the external force that is the purpose of the above precision measurement ( It can be characterized by receiving ).

[0013] In addition, the step of determining the rotational elastic modulus of the above elastic part is the minimum value of the external force that is the purpose of the precise measurement ( ) and the minimum distance strain between one end of the elastic part capable of precise measurement and the other end opposite to the one end ( Using ) the rotational elastic modulus of the above elastic part ( Can determine ).

[0014] In addition, depending on the precision of the desired external force measurement, the initial angle of the elastic part ( It may further include a step of determining ).

[0015] In addition, the step of connecting the elastic part to the driving part and the input part, respectively, is the determined rotational elastic modulus ( While having ), the initial angle is the initial angle determined above ( The elastic part formed by ) can be connected to the driving part and the input part, respectively. Effects of the invention

[0016] As a result, the method for manufacturing a series elastic actuator capable of precise external force measurement has the effect of facilitating the design of an elastic part that can improve measurement precision within the range of the external force to be measured by utilizing a preset algorithm. Brief explanation of the drawing

[0017] FIG. 1 is a diagram illustrating a case in which no external force is provided to a series elastic actuator capable of precise external force measurement according to one embodiment of the present invention. FIG. 2 is a diagram illustrating a case where an external force is provided to a series elastic actuator capable of precise external force measurement according to one embodiment of the present invention. FIG. 3 is a diagram illustrating the relationship between the external force provided to the input part and the distance strain of the elastic part according to one embodiment of the present invention. FIG. 4 is a diagram illustrating the relationship between the equivalent linear elastic modulus of the elastic part and the distance strain of the elastic part according to one embodiment of the present invention. FIG. 5 is a diagram illustrating a comparison of the relationships between the external force and the distance strain of the elastic part according to the initial angles of the elastic part according to one embodiment of the present invention. FIG. 6 is a flowchart of a method for manufacturing a series elastic actuator capable of precise external force measurement according to one embodiment of the present invention. Specific details for implementing the invention

[0018] The present invention is capable of various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms.

[0019] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0020] In the following examples, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0021] In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0022] Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0023] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, so the following embodiments are not necessarily limited to those illustrated.

[0024] In the description of each component, where it is stated that it is formed on or under, "on" and "under" include both forms formed directly or through other components, and the criteria for "on" and "under" are explained based on the drawings.

[0025] FIG. 1 is a diagram illustrating a case in which no external force is provided to a series elastic actuator capable of precise external force measurement according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a case in which an external force is provided to a series elastic actuator capable of precise external force measurement according to an embodiment of the present invention. FIG. 3 is a diagram illustrating the relationship between the external force provided to the input part and the distance strain of the elastic part according to an embodiment of the present invention. FIG. 4 is a diagram illustrating the relationship between the equivalent linear elastic modulus of the elastic part and the distance strain of the elastic part according to an embodiment of the present invention. FIG. 5 is a diagram comparing the relationships between the external force and the distance strain of the elastic part according to the initial angles of the elastic part according to an embodiment of the present invention.

[0026] Referring to FIG. 1 and FIG. 2, a series elastic actuator (1) capable of precise external force measurement according to one embodiment of the present invention (hereinafter referred to as the 'series elastic actuator') is a device that detects the magnitude of an external force (F) by measuring the amount of elastic deformation of an elastic part (300) that receives an external force (F) from the outside.

[0027] Specifically, in one embodiment of the present invention, a series elastic actuator (1) is used for the range of external force (F) or the minimum value of external force ( The rotational elastic modulus determined by ) By including an elastic part (300) having ), higher measurement precision can be secured within the range of a preset external force (F).

[0028] In addition, depending on the precision of the external force (F) measurement intended by the user and the environment in which the elastic part (300) is received, the initial angle of the elastic part (300) ) can be determined, and the series elastic actuator (1) at the determined initial angle ( By including an elastic part (300) formed by ), the user can secure the precision of the external force (F) measurement intended by the user.

[0029] In the following, a serial elastic actuator (1) capable of securing a preset measurement precision within a preset range of the magnitude of an external force (F) and a method for manufacturing the same will be described in detail.

[0030] Referring to FIGS. 1 and 2, a serial elastic actuator (1) according to one embodiment of the present invention may include a driving unit (100), an input unit (200), an elastic unit (300), a measuring unit (400), and a control unit (drawing symbol not set).

[0031] A driving unit (100) according to one embodiment of the present invention is connected to one side of an elastic unit (300) to provide power to the elastic unit (300), and the magnitude of the power provided to the elastic unit (300) can be controlled by receiving an electrical signal from a control unit.

[0032] Specifically, the control unit has an elastic deformation rate of the elastic part (300), specifically a distance deformation rate between the ends of the first arm (320) and the second arm (330) which will be explained later. The magnitude of the external force (F) can be detected in a time series according to the magnitude of the external force (F), and the control unit can control the magnitude of the power provided by the driving unit (100) to the elastic unit (300) according to the magnitude of the detected external force (F).

[0033] As a result, the control unit can feedback control the driving unit (100) based on the magnitude of the detected external force (F), so the serial elastic actuator (1) can be flexibly controlled to correspond to the magnitude of the external force (F) that changes over time.

[0034] A driving unit (100) according to one embodiment of the present invention may include a driving motor (110) and a power transmission unit (120).

[0035] The drive motor (110) can be made of various types of electric motors such as AC motors and DC motors, and can be made of various devices in a technical concept capable of receiving power from an external source and providing power to the elastic part (300), such as rotary motors or linear motors as the output method.

[0036] A power transmission unit (120) according to one embodiment of the present invention receives power from a driving motor (110) and transmits it to an elastic unit (300), and can be composed of gear pairs of various shapes.

[0037] In one embodiment, when the drive motor (110) is formed as a rotary motor, the power transmission unit (120) may be composed of a device capable of converting rotational motion into linear motion, such as a rack and pinion gear pair.

[0038] In one embodiment, the power gear unit may include a reduction gear.

[0039] A power transmission unit (120) according to one embodiment of the present invention can provide power in a first direction (D1) to one side of the elastic unit (300), specifically to the first arm (320), and an input unit (200) can receive an external force (F) and transmit the external force (F) in a second direction (D2) to the other side of the elastic unit (300) opposite to the one side, specifically to the second arm (330).

[0040] Referring to FIG. 1 and FIG. 2, the first direction (D1) and the second direction (D2) may be opposite directions on a preset straight line.

[0041] Specifically, the first direction (D1) and the second direction (D2) may be parallel to a virtual line (AX) connecting one end of the first arm (320) connected to the power transmission unit (120) and one end of the second arm (330) connected to the input unit (200), and the first direction (D1) and the second direction (D2) may be set in opposite directions on the virtual line (AX).

[0042] As a result, when the elastic part (300) receives power from the power transmission part (120) in the first direction (D1) and simultaneously receives an external force (F) from the input part (200) in the second direction (D2), the distance between one end of the elastic part (300) and the other end opposite to said end may be deformed, and the control part has a deformation rate of the distance between the one end and the other end of the elastic part (300). It has the effect of being able to measure the magnitude of the external force (F) by measuring ).

[0043] Referring to FIG. 1 and FIG. 2, an input unit (200) according to one embodiment of the present invention receives an external force (F) from the outside and can be connected to one side of the elastic unit (300), specifically one end of the second arm (330).

[0044] The input section (200) is the distance deformation rate between the end of the first arm (320) and the end of the second arm (330) located on a virtual line (AX) generated by receiving an external force (F). The magnitude of the external force (F) can be precisely measured using ).

[0045] Referring to FIGS. 1 and 2, an elastic member (300) according to one embodiment of the present invention is capable of elastic deformation according to the magnitude of an external force (F) transmitted to an input member (200), and has a preset rotational elastic modulus ( ) and preset initial angle( It can be composed of ).

[0046] In one embodiment, the elastic part (300) has a rotational elastic modulus ( corresponding to the magnitude range of the external force (F) that is the purpose of the precision measurement) It may be made of a torsion spring having ) and may include an elastic body (310), a first arm (320), and a second arm (330).

[0047] One end of the elastic part (300) is connected to the driving part (100), and the other end of the elastic part (300) opposite to the one end can be connected to the input part (200).

[0048] The elastic body (310) receives an external force (F) from the outside and undergoes elastic torsional deformation, and has a rotational elastic modulus (pre-set) It can be made of a torsion spring having ).

[0049] The first arm (320) is connected to the elastic body (310) and the driving unit (100), respectively, and can be made of a material with high rigidity that does not undergo deformation even when receiving an external force (F).

[0050] The first arm (320) may be connected separately to the elastic body (310) and the driving unit (100), but is not limited thereto, and the first arm (320) may be formed integrally with at least one of the elastic body (310) and the driving unit (100).

[0051] The second arm (330) is connected to the elastic body (310) and the input part (200), respectively, and can be made of a material with high rigidity that does not undergo deformation even when receiving an external force (F).

[0052] The second arm (330) may be connected separately to the elastic body (310) and the input part (200), but is not limited thereto, and the second arm (330) may be formed integrally with at least one of the elastic body (310) and the input part (200).

[0053] Hereinafter, the rotational elastic modulus of the elastic part (300), specifically the elastic body (310) according to one embodiment of the present invention ( Explain in detail the method for determining ).

[0054] The rotational elastic modulus of the elastic part (300) according to one embodiment of the present invention ( ) is the minimum value of the external force that is the purpose of precise measurement ( ) and the minimum distance deformation rate between one end of the elastic part (300) capable of precise measurement and the other end opposite to said end ( It can be decided as ).

[0055] If the magnitude of the external force (F) that is the purpose of the precision measurement of the series elastic actuator (1) is greater than or equal to A (N), then the minimum value of the external force that is the purpose of the precision measurement ( )' can be set to a value smaller than A(N) or A(N).

[0056] In this specification, 'distance strain rate ( )' is the distance between one end of the first arm (320) connected to the driving unit (100) and one end of the second arm (330) connected to the input unit (200). It can be interpreted as the strain of ).

[0057] Or, 'distance strain ( )' is the distance between a preset point of the first arm (320) and a preset point of the second arm (330) It can be interpreted as the strain of ).

[0058] Or, 'distance strain rate ( )' is the distance between a preset point of the driving unit (100) and a preset point of the input unit (200) It can be interpreted as the strain of ).

[0059] However, for convenience of explanation in this specification, 'distance strain rate ( )’ is the distance between one end of the first arm (320) and one end of the second arm (330) It will be described as a strain of )', but is not limited to the meaning of the words themselves.

[0060] Minimum distance strain ( )' is the minimum distance strain required for precise measurement of external force (F) It can be interpreted as ).

[0061] In addition, the minimum value of the external force that is the purpose of precise measurement in the input section (200) ( When ) is applied, the distance between one end of the first arm (320) of the elastic part (300) and one end of the second arm (330) ( ) is the minimum distance strain ( It can be transformed into ).

[0062] The user [is] the size of the elastic part (300), the size of the space capable of accommodating the elastic part (300), and the minimum value of the external force that is the purpose of the precision measurement ( The minimum distance strain of the elastic part (300) according to the magnitude of ) (hereinafter referred to as the 'minimum value of the target external force'), etc. You can set ).

[0063] The rotational elastic modulus of the elastic part (300) according to one embodiment of the present invention ( ) can be determined by the following mathematical formula 1.

[0064]

[0065] Distance strain ( ) can be defined by the following mathematical formula 2.

[0066] Selection of l1, l2 arm lengths and l0( C can be determined by selection.

[0067]

[0068] Here, is the distance between one end of the first arm (320) and one end of the second arm (330) when there is no elastic deformation of the elastic body (310), and is the distance between one end of the first arm (320) and one end of the second arm (330) when an external force (F) F is applied and the elastic body (310) is elastically deformed. Also, is the length of the first arm (320), and is the length of the second arm (330).

[0069] Minimum value of the target external force determined according to the use of the series elastic actuator (1) and the shape of the series elastic actuator (1) ), minimum distance strain ( ), l1, l2, l0( The rotational elastic modulus of the elastic part (300) according to ) can be determined, and the series elastic actuator (1) has the determined rotational elastic modulus ( It may include an elastic part (300) having )

[0070] Below, the rotational elastic modulus determined above ( The precision of the external force (F) measurement of a series elastic actuator (1) including an elastic part (300) having ) is explained in detail.

[0071] Referring to FIGS. 3 and 4, a minimum value of a target external force ( When an external force (F) greater than ) is applied, that is, when the elastic part (300) has a minimum distance strain ( If it is greater than ), the magnitude of the external force (F) and the distance strain ( The size of ) forms a non-linear relationship.

[0072] Specifically, the magnitude of the external force (F) provided to the input unit (200) and the distance strain rate ( The relationship of ) follows the following mathematical formula 3.

[0073]

[0074] Here, Is Therefore, (refer to Equation 1) the minimum value of the target external force ( When an external force (F) greater than ) is applied, the distance strain ( The change in magnitude of the external force (F) relative to the change in ) is less than "1". Specifically, the distance strain ( The change in magnitude of the external force (F) relative to the change in ) is smaller than in the case of a linear spring.

[0075] As a result, the external force (F) becomes the minimum value of the target external force ( In the case of ) or more, even if the external force (F) applied to the input part (200) changes slightly, the distance strain rate ( of the elastic part (300) Since ) changes relatively significantly, the distance strain of the elastic part (300) By measuring ), the external force (F) applied to the input unit (200) can be measured very precisely.

[0076] Initial angle of the elastic part (300) according to one embodiment of the present invention ( ) can be determined according to at least one of the precision of the external force (F) measurement, the size of the elastic part (300), and the size of the space capable of accommodating the elastic part (300).

[0077] In this specification, 'initial angle ( )’ can be interpreted as the angle formed by the other end of the elastic part (300) opposite the first end when no external force (F) is input from the input part (200).

[0078] Specifically, 'initial angle( )’ can be interpreted as the angle formed by the longitudinal center axis of the first arm (320) and the longitudinal center axis of the second arm (330) when no external force (F) is input from the input unit (200).

[0079] Referring to FIG. 5, the initial angle of the elastic part (300) The distance strain of the elastic part (300) according to ) The change in the magnitude of the external force (F) may differ relative to the change in ).

[0080] Specifically, the pre-set rotational elastic modulus ( Initial angle of the elastic part (300) having ) The distance strain of the elastic part (300) according to ) The magnitude of the change in external force (F) may differ relative to the change in ), and the initial angle ( The larger ) is, the greater the distance strain of the elastic part (300) The magnitude of the change in the external force (F) becomes smaller relative to the change in the external force (F).

[0081] In the case of no elastic deformation, the distance between one end of the first arm (320) and one end of the second arm (330) ( The initial angle of the ) and the elastic part (300) The relationship of ) follows the following mathematical formula 4.

[0082]

[0083] Referring to mathematical formula 4, the initial angle of the elastic part (300) The size of ) is the distance between one end of the first arm (320) and one end of the second arm (330) when there is no elastic deformation of the elastic body (310). Since it is proportional to ), the distance between one end of the first arm (320) and one end of the second arm (330) when there is no elastic deformation of the elastic part (300) The larger the elastic part (300), the greater the distance strain ( The magnitude of the change in the external force (F) becomes smaller relative to the change in the external force (F).

[0084] As a result, the precision measuring actuator is at the initial angle ( If the ) includes a relatively large elastic part (300), it has the effect of improving the measurement precision of the precision measuring actuator.

[0085] Referring to FIGS. 1 and 2, a series elastic actuator (1) according to one embodiment of the present invention has a distance deformation rate between one end and the other end that changes as an external force (F) is applied to an input part (200). It may further include a measuring part (400) capable of measuring )

[0086] The measuring unit (400) measures the distance deformation rate ( The ) value can be transmitted to the control unit, and the control unit receives the distance deformation rate ( ), the length of the first arm (320) entered, the length of the second arm (330), l0( Pre-set rotational elastic modulus ( The external force (F) can be precisely measured using the calculation algorithm according to ) and mathematical formula 3.

[0088] Hereinafter, a method for manufacturing a series elastic actuator (1) capable of measuring a precise external force according to one embodiment of the present invention is described.

[0089] FIG. 6 is a flowchart of a method for manufacturing a series elastic actuator capable of precise external force measurement according to one embodiment of the present invention.

[0090] Referring to FIG. 6, a method for manufacturing a series elastic actuator (1) capable of precise external force measurement according to an embodiment of the present invention comprises the step (S100) of obtaining external force information to be the purpose of precise measurement, and using the external force information and a preset algorithm, the rotational elastic modulus of an elastic part capable of elastic deformation disposed between a driving part that provides power and an input part that receives the external force ( Step of determining ) (S200), determined rotational elastic modulus ( It may include the step (S400) of connecting the elastic part having ) to the driving part and the input part, respectively.

[0091] A step (S100) of obtaining external force information for the purpose of precise measurement according to an embodiment of the present invention includes obtaining from a user the minimum value of the external force for the purpose of precise measurement ( It may include a step of receiving ).

[0092] In one embodiment, an external device (not shown in the drawing) receives from a user information on the magnitude of an external force (F) to be precisely measured, specifically the minimum value of the target external force ( ) information can be received.

[0093] For example, when manufacturing a series elastic actuator (1) capable of precisely measuring an external force (F) greater than A (N), the user [provides] the minimum value of the target external force ( You can input A(N) as ).

[0094] A step (S100) of obtaining external force (F) information that is the purpose of precise measurement according to an embodiment of the present invention is a minimum distance deformation rate between one end of the elastic part (300) and the other end opposite to said end ( It may include a step of receiving information.

[0095] The user [requires] the minimum distance deformation rate of the elastic part (300) according to the size of the elastic part (300), the size of the space accommodating the elastic part (300), the shape of the series elastic actuator (1), etc. ) can be predetermined, and the external device can determine the minimum distance strain rate of the predetermined elastic part (300) from the user. Information regarding ) can be received.

[0096] The rotational elastic modulus of the elastic part using external force information according to one embodiment of the present invention ( The step of determining ) (S200) is the minimum value of the external force that is the object of precision measurement obtained by the external device from the user ( ) and the minimum distance strain between one end of the elastic part (300) capable of precise measurement and the other end opposite the one end ( Using ) the rotational elastic modulus of the elastic part (300) It may include a step of determining ).

[0097] In one embodiment, the external device obtains from the user the minimum value of the target external force ( Minimum distance strain of ) and elastic part (300) The rotational elastic modulus of the elastic part (300) that receives a value and can secure measurement precision within the range of the target external force (F) according to a preset algorithm. ) can be calculated, and the above algorithm can be set as mathematical formula 1.

[0098] For example, the distance strain of the elastic part (300) When manufacturing a series elastic actuator (1) capable of precisely measuring an external force (F) greater than A(N) at a level greater than A(%), the user [provides] a minimum distance deformation rate ( ) is A(%), minimum value of the target external force( ) is B(N), initial angle according to required precision (or You can input ), in this case, the rotational elastic modulus calculated by the external device according to a preset algorithm ( ) is as follows.

[0099]

[0100] As a result, the user obtains the minimum value of the external force that is the purpose of precise measurement ( ), minimum distance strain of the elastic part (300) ), initial angle based on required precision (or By determining ), it is possible to easily design a series elastic actuator (1) that targets the magnitude range of an external force (F) for which precise measurement is required.

[0101] A method for manufacturing a series elastic actuator capable of precise external force measurement according to one embodiment of the present invention, wherein the initial angle of the elastic part (300) according to the precision of the desired external force (F) measurement ( It may include additional steps for determining ).

[0102] Referring to Fig. 5 and Equations 3 and 4, the rotational elastic modulus ( When ) is the same, the initial angle of the elastic part (300) The larger ) is, the relatively greater the distance strain of the elastic part (300) It can be seen that the magnitude of the change in the external force (F) becomes smaller relative to the change in the external force (F).

[0103] That is, the initial angle of the elastic part (300) The larger ) is, the greater the distance strain ( By measuring the change in ), the change in magnitude of a relatively small external force (F) can be measured.

[0104] However, the initial angle of the elastic part (300) As the larger the value, the unidirectional length of the space accommodating the elastic member (300) must also be relatively larger; therefore, the user considers the precision of the desired external force (F) measurement and the size of the space capable of accommodating the elastic member (300) to determine the initial angle ( Can determine ).

[0105] In one embodiment, the user [uses] the determined rotational elastic modulus ( While having ), the determined initial angle ( A series elastic actuator (1) capable of precise external force measurement can be manufactured by performing the step of connecting the elastic part (300) formed by ) to the driving part (100) and the input part (200), respectively.

[0106] As a result, the method for manufacturing a series elastic actuator (1) capable of precise external force measurement has the effect of facilitating the design of an elastic part (300) that can improve measurement precision within the range of the external force (F) to be measured by using a preset algorithm.

[0107] The scope of the present invention is not limited to the embodiments described above, and all scopes equivalent to or equivalently modified from the claims set forth below, as well as the claims set forth below, shall be considered to fall within the scope of the concept of the present invention. Explanation of the symbols

[0108] 1: Series elastic actuator capable of precise external force measurement 100: Drive unit 110: Drive motor 120: Power transmission unit 200: Input unit 300: Elastic part 310: Elastic body 320: 1st Cancer 330: 2nd Cancer 400: Measurement section

Claims

Claim 1 A driving unit that provides power; an input unit that receives external force from the outside; and an elastic unit that is connected to the driving unit and the input unit, respectively, and undergoes elastic deformation as an external force acts on the input unit; wherein the elastic unit has a rotational elastic modulus (corresponding to a magnitude range of the external force that is the purpose of precision measurement). It is composed of a torsion spring having ), one end of the elastic part is connected to the driving part, the other end of the elastic part opposite to the one end is connected to the input part, and the distance deformation rate between the one end and the other end changes as an external force acts on the input part ( It further includes a measuring part capable of measuring ) and the rotational elastic modulus of the elastic part ( ) is the minimum value of the external force that is the purpose of precise measurement ( ) and the minimum distance deformation rate between the one end and the other end of the elastic part capable of precise measurement ( A series elastic actuator capable of precise external force measurement, characterized by being determinable by ). Claim 2 delete Claim 3 In paragraph 1, the magnitude of the external force provided to the input part is the distance deformation rate between the one end and the other end of the elastic part ( A series elastic actuator capable of precise external force measurement, characterized by having a non-linear relationship with ). Claim 4 delete Claim 5 A driving unit that provides power; an input unit that receives external force from the outside; and an elastic unit that is connected to the driving unit and the input unit, respectively, and undergoes elastic deformation as an external force acts on the input unit; wherein the elastic unit has a rotational elastic modulus (corresponding to a magnitude range of the external force that is the purpose of precision measurement). It is composed of a torsion spring having ), one end of the elastic part is connected to the driving part, the other end of the elastic part opposite to the one end is connected to the input part, and the distance deformation rate between the one end and the other end changes as an external force acts on the input part ( It further includes a measuring part capable of measuring ) and the initial angle of the elastic part ( A series elastic actuator capable of precise external force measurement, characterized in that ) is determined according to the precision of the external force measurement. Here, the initial angle ( ) is the angle formed by the other end of the elastic part opposite to the first end when no external force is input from the input part. Claim 6 A step of obtaining external force information that is the purpose of precision measurement; using the external force information and a preset algorithm, the rotational elastic modulus of an elastic part capable of elastic deformation, which is positioned between a driving part that provides power and an input part that receives the external force ( A step of determining ); and the determined rotational elastic modulus ( The method includes the step of connecting an elastic member having ) to the driving member and the input member, respectively; and the step of acquiring external force information comprises the minimum value of the external force that is the purpose of the precision measurement ( A method for manufacturing a series elastic actuator capable of precise external force measurement, characterized by receiving ). Claim 7 delete Claim 8 A step of obtaining external force information that is the purpose of precision measurement; using the external force information and a preset algorithm, the rotational elastic modulus of an elastic part capable of elastic deformation, which is positioned between a driving part that provides power and an input part that receives the external force ( A step of determining ); and the determined rotational elastic modulus ( The method includes the step of connecting an elastic member having ) to the driving member and the input member, respectively; and the step of determining the rotational elastic modulus of the elastic member is the minimum value of the external force that is the purpose of the precision measurement ( ) and the minimum distance strain between one end of the elastic part capable of precise measurement and the other end opposite to the one end ( Using ) the rotational elastic modulus of the above elastic part ( A method for manufacturing a series elastic actuator capable of precise external force measurement, characterized by determining ). Claim 9 In paragraph 8, the initial angle of the elastic part (depending on the precision of the intended external force measurement A method for manufacturing a series elastic actuator capable of precise external force measurement, characterized by further including the step of determining ). Claim 10 In claim 9, the step of connecting the elastic part to the driving part and the input part, respectively, is the determined rotational elastic modulus ( While having ), the determined initial angle ( A method for manufacturing a series elastic actuator capable of precise external force measurement, characterized by connecting an elastic part formed by ) to the driving part and the input part, respectively.

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