Design, implementation and control of physical series elastic actuated robotic manipulator

Issue title: 20th International Symposium on Applied Electromagnetics and Mechanics

Guest editors: Theodoros Theodoulidis, Christos Antonopoulos, Nikolaos Kantartzis, Ioannis Rekanos and Theodoros Zygiridis

Article type: Research Article

Authors: Zaki, Noureldeen M.^a; | Faried, Andrew M.^b | Shehata, Omar M.^{b; †} | Hammad, Sherif^b | Farhoud, Saleh M.^a

Affiliations: [a] Multi-Robot Systems (MRS) Research Group, Cairo, Egypt | [b] Faculty of Engineering, Ain Shams University, Cairo, Egypt

Correspondence: [*] Corresponding author: Noureldeen M. Zaki, Multi-Robot Systems (MRS) Research Group, Cairo, Egypt. E-mail: nourkaamel@yahoo.com, noureldeen.zaki@student.guc.edu.eg

Note: [†] Member, IEEE.

Abstract: This paper discusses Design, Implementation and Control of Series Elastic Actuator (SEA). This model was mainly dependent on usage of mechanical off-shelf components which are weigh cheaper to purchasable models developed by companies. For an appropriate performance-to-cost component selection, cost-constrained design requires careful evaluation of important performance criteria. In addition, we used These models to create force and position tracking controllers that combine PID and disturbance observer control architectures model and practical based. SEA can be used as a compliant actuator, We have been keen to utilize a collaborative robot and tackle the safety issues that arise when robots and humans interact as well as the cost issue. As a result, The goal of this study is to show how to design and install hardware as well as implementing some software programs to produce a fully functioned University of Texas Series Elastic Actuator (UT-SEA).

Keywords: Humanoid robots, compliance, series elastic actuators robotic manipulators, UT-SEA

DOI: 10.3233/JAE-220139

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 71, no. S1, pp. S157-S169, 2023