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[DPRG] Does anyone have any experience with "servo savers"?
Subject: [DPRG] Does anyone have any experience with "servo savers"?
From: Ed Paradis
legomaniac at gmail.com
Date: Thu Dec 13 18:15:33 CST 2007
I've got a good handle already on the sensor/measurment/control
situation involving these actuators, but you make a good point.
Just slapping a spring on the end of your motor does not a series
elastic motor make.
In case anyone isn't clear on what we're talking about, here are a few
results from google for series elastic actuator:
http://groups.csail.mit.edu/lbr/hrg/1995/mattw_ms_thesis.pdf
http://www.ihmc.us/~jpratt/publications/2004_Pratt_SPIE.pdf
There was another pdf of a group making actuators that relied on a
torsional spring and didn't use a ballscrew/worm gear mechanism. Of
course now I can't find it....
It all ends up being the same idea.
Ed
On Dec 12, 2007 6:33 PM, Jon Hylands <jon at huv.com> wrote:
> On Wed, 12 Dec 2007 18:29:05 -0600, "Ed Paradis" <legomaniac at gmail.com>
> wrote:
>
> > Exactly! The way I read it described once was that it turns your
> > ability to control position into the ability to control force applied.
> >
> > Thanks to everyone for the tips. It looks like I'll be heading to a
> > hobby shop to browse over the weekend.
>
> Ed,
>
> Remember that force control is only available when you can measure the
> deformation of the spring. With a typical SEA, you use a linear actuator
> with a sprung carriage, and a linear pot to measure the deflection of the
> carriage (and thus the force).
>
>
> Later,
> Jon
>
> --------------------------------------------------------------
> Jon Hylands Jon at huv.com http://www.huv.com/jon
>
> Project: Micro Raptor (Small Biped Velociraptor Robot)
> http://www.huv.com/blog
>
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