Robust Optimal Design of a Micro Series Elastic Actuator. Tokatli, O. & Patoglu, V. In International Symposium of Mechanism and Machine Theory, AzCIFToMM, 2010. abstract bibtex We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using $\mu$SEA for force control removes the need for high-precision force sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element. Since the performance of a $\mu$SEA is highly dependent on the design of this compliant coupling element, we employ a design optimization framework to design this element. The proposed design framework deals with the robustness of the design while optimizing the objective functions. The robust design optimization method relies on sensitivity region concept which minimizes the change of the objective function with respect to the small changes in the design variables. The design of the compliant coupling element is chosen among the Pareto set of the optimal solutions by considering some secondary design criteria that are not included in the optimization problem.
@InProceedings{Tokatli2010a,
booktitle = {International Symposium of Mechanism and Machine Theory, AzCIFToMM},
author = {Ozan Tokatli and Volkan Patoglu},
title = {Robust Optimal Design of a Micro Series Elastic Actuator},
year = {2010},
abstract = {We propose using series elastic actuation (SEA) in micro mechanical devices to achieve precise control of the interaction forces. Using $\mu$SEA for force control removes the need for high-precision force
sensors/actuators and allows for accurate force control through simple position control of the deflection of a compliant coupling element. Since the performance of a $\mu$SEA is highly dependent on the design of this compliant
coupling element, we employ a design optimization framework to design this element. The proposed design framework deals with the robustness of the design while optimizing the objective functions. The robust design optimization
method relies on sensitivity region concept which minimizes the change of the objective function with respect to the small changes in the design variables. The design of the compliant coupling element is chosen among the Pareto set
of the optimal solutions by considering some secondary design criteria that are not included in the optimization problem.}
}
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