A distributed and scalable electromechanical actuator for bio-inspired robots

Bonhyun Ku, Yanpei Tian, Sunyu Wang, Elie Libbos, Shivang Agrawal, Arijit Banerjee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Bio-inspired robots require agility, low transportation cost, and ability to operate in an unstructured environment. Although existing robots exhibit wide ranges of motion, their performance is limited by actuators. Often the robot design involves adapting a conventional motor with appropriate gears, linkages, and joints to execute high-level motion planning. The procedure leads to complex mechanical designs, low actuation speed, and poor backdrivability. This paper proposes an approach to create a modular and scalable electromechanical actuator that trades off force with allowable displacement. The stacked-actuator structure allows the whole system to share the magnetic flux path. This configuration simplifies mechanical design and assembly while improving thermal management. Stacking several actuators enables a distributed actuation mechanism suitable for creating limited-displacement motions, as in an animal spine. Analytical modeling and design, finite element analysis based simulation, and experimental results of the stacked architecture validate its feasibility to reproduce animal-like motions.

Original languageEnglish (US)
Title of host publication2019 IEEE International Electric Machines and Drives Conference, IEMDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2180-2187
Number of pages8
ISBN (Electronic)9781538693490
DOIs
StatePublished - May 2019
Event11th IEEE International Electric Machines and Drives Conference, IEMDC 2019 - San Diego, United States
Duration: May 12 2019May 15 2019

Publication series

Name2019 IEEE International Electric Machines and Drives Conference, IEMDC 2019

Conference

Conference11th IEEE International Electric Machines and Drives Conference, IEMDC 2019
CountryUnited States
CitySan Diego
Period5/12/195/15/19

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Keywords

  • Active spine
  • Distributed actuation
  • Robotic actuator

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Ku, B., Tian, Y., Wang, S., Libbos, E., Agrawal, S., & Banerjee, A. (2019). A distributed and scalable electromechanical actuator for bio-inspired robots. In 2019 IEEE International Electric Machines and Drives Conference, IEMDC 2019 (pp. 2180-2187). [8785363] (2019 IEEE International Electric Machines and Drives Conference, IEMDC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IEMDC.2019.8785363