Design and Analysis of a Series Elastic Component Based on Topology Optimization
The series elastic component is the most critical component of the Series Elastic Actuator (SEA), which directly determines the performance of the SEA. SEA can ensures the safety of the operator during human-robot interaction to a certain extent. In this paper, we use the topology optimization method to design the series elastic component. In order to make the series elastic component have large torsional compliance and high precision, the weighted sum of torsional compliance and radial stiffness is used as the optimization objective function, and a general model of the topology optimization of the series elastic component is established. The numerical examples are used to verify the correctness and effectiveness of the optimization model. According to the results of topology optimization, a new type of high-precision series elastic component is designed, and the accuracy of the model is verified by finite element simulation, which is compared with the traditional series elastic component.
In this paper, the topology optimization method is introduced into the design of series elastic component, which expands the design space of series elastic component, enriches the types of configurations, and provides feasible ideas for the design of series elastic components.
KeywordsSeries Elastic Component Topology Optimization Compliant Mechanism
Unable to display preview. Download preview PDF.
This work was supported by the [National Natural Science Foundation of China] under Grant ; [Scientific and Technological Project of Guangzhou] under Grant ; [Fundamental Research Funds for the Central Universities] under Grant [2018ZD27]
- 1.Howell L. L. Compliant Mechanisms [M]. New York: John Wiley & Sons, 2001.Google Scholar
- 2.Burns R. H., CROSSLEY F. Kinetostatic Synthesis of Flexible Link Mechanisms[C]. Mechanical Engineering. 1968, 90:67.Google Scholar
- 3.Her I. Methodology for Compliant Mechanism Design [D]. Indiana: Purdue University, 1986.Google Scholar
- 4.G. A. Pratt and M. M. Williamson, “Series Elastic Actuators,” in International Conference on Intelligent Robots and Systems, 1995, p. 399.Google Scholar
- 6.Bendsøe M. P., Sigmund O. Topology Optimization: Theory, Methods and Applications [M]. Berlin: Springer, 2005.Google Scholar
- 7.Michell A. G. M. The Limits of Economy of Material in Frame-structures [J]. Philosophical Magazine, 1904, 8(47):589–597.Google Scholar
- 9.Dorn W.S., Gomory R.E., Greenberg H.J. Automatic Design of Optimal Structures [J]. Journal de mecanique, 1964, 3(6):25–52.Google Scholar
- 12.Sigmund O. Systematic Design of Microactuators Using Topology Optimization[C]. 5th Annual International Symposium on Smart Structures and Materials. 1998:23–31)Google Scholar
- 13.Ananthasuresh G. K., Kota S., Kikuchi N. Strategies for Systematic Synthesis of Compliant Mems [C]. Proceedings of the 1994 ASME winter annual meeting, Symposium on MEMS: Dynamics Systems and Control. Chicago, USA, 1994:677–686.Google Scholar
- 15.Frecker M I, Ananthasuresh G K, Ni shiwaki S, et a1.Topological synthesis of compliant mechanisms using multi-criteria optimization. Transactions of the ASME, Journal of Mechanical Design, 1997, ll9(2): 238~245Google Scholar
- 16.Zhang X. Topology optimization design of compliant mechanism [J],Journal of Mechanical Engineering ,2003,39(11):47-51(China)Google Scholar
- 19.Y. Wang, Y. Chen, K. Chen, Y. Wu and Y. Huang, “A Flat Torsional Spring with Corrugated Flexible Units for Series Elastic Actuators,” Proceedings of the IEEE 2nd International Conference on Advanced Robotics and Mechatronics, Hefei and Tai’an, China, pp.138-143, 2017.Google Scholar