SERIES ELASTIC ACTUATOR DEVICE, SERIES ELASTIC ACTUATOR CONTROL METHOD, AND SYSTEM USING SAME
FIG10 is a diagram for illustrating an embodiment of the operation of the SEA when an external force is applied to a load
Referring to FIG10, when an external force (Fl) is applied to a load 1000 coupled to the load-side rotation unit 200, torque (τl) that rotates the load 1000 by the external force (Fl) occurs.
diagram
200
load-side rotation unit
10
driving motor
1000
load
['1. A series elastic actuator, comprising: a motor-side rotation unit coupled to a driving motor and rotated by rotatory power of the driving motor; a load-side rotation unit coupled to the motor-side rotation unit to transfer the rotatory power of the driving motor to a load; and at least one pair of elastic members provided in spaces between the motor-side rotation unit and the load-side rotation unit, wherein a frame having accommodation spaces to which the pair of elastic members is fixed is formed in any one of the motor-side rotation unit and the load-side rotation unit.']