Series Elastic Actuator Unit for Shock Absorption and Force Control
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Solution Overview
Problem
The structure of the elastic unit in existing series elastic actuators is not adequately investigated, leading to potential issues with weight, maintainability, and robustness.
Innovation Solution
An elastic unit is designed with a shaft-like member, enclosure member, bearings, plate member, and elastic members, allowing for a more compact and robust structure that can absorb external forces and measure force magnitude accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional elastic unit structure is used in series elastic actuators, then the actuator can provide force control stability, but the overall system weight increases and maintainability deteriorates
Solution Approach 1:
The elastic unit is divided into separate functional components: a shaft-like member for force transmission, an enclosure member for structural support, and elastic members (springs) for force control. This segmentation allows each component to be optimized independently, reducing overall weight while maintaining force control stability.
Solution Approach 2:
The elastic function is extracted from a bulky conventional structure and implemented through dedicated elastic members (springs) positioned between the shaft-like member and enclosure member. This extraction eliminates unnecessary structural mass while preserving the essential elastic compliance needed for force control.
2Reliability
If a conventional elastic unit structure is used, then force control stability is achieved, but the actuator structure becomes complex and difficult to maintain
Solution Approach 1:
The elastic unit is segmented into replaceable components including the shaft-like member, enclosure member, and elastic members. This segmentation enables individual components to be inspected, removed, and replaced independently, significantly improving maintainability while preserving force control functionality.
Solution Approach 2:
The elastic members are extracted as separate, accessible components within the enclosure member, allowing them to be easily removed and replaced without disassembling the entire actuator. This extraction simplifies maintenance procedures while maintaining the force control stability provided by the elastic elements.
3Reliability
If existing elastic unit designs are used, then basic force control is possible, but shock protection capability is insufficient
Solution Approach 1:
The elastic members (springs) are positioned between the shaft-like member and the enclosure member to provide beforehand cushioning against external shocks. This prior cushioning protects the linear motion part from shock impacts while maintaining force control capability during normal operation.
Solution Approach 2:
The elastic members serve as an intermediary element between the shaft-like member and the enclosure member, absorbing shock impacts before they can reach the linear motion part. This intermediary positioning provides shock protection while preserving the force control function.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The elastic unit provides improved maintainability and mass productivity while effectively protecting the linear motion part from shocks and enabling precise force control.
Implementation Method 1
at least one or more elastic members sandwiched between the enclosure member and the plate member
Data Source
AI summary
This elastic unit is provided with: a shaft-like member that extends in one direction and that is connected to a force point acted on by an external force; an enclosure member that has an internal space and that is penetrated by the shaft-like member; a bearing that is provided at a point of contact between the shaft-like member and the enclosure member so that the shaft-like member is movable with respect to the enclosure member; a plate member that is provided inside the internal space of the enclosure member so as to protrude from the shaft-like member; and at least one or more elastic members sandwiched between the enclosure member and the plate member.