직렬탄성구동기 내 접방향 평면 뒤틀림 스프링의 하중 분석과 이에 따른 스프링 형태 최적화

Abstract

The planar torsion spring has been applied to series elastic actuators (SEA) because of its axially thin shape. However, most of the springs are designed depending on experiences. The optimization methods suggested are available for the case when the inner diameter is relatively small. In this study, a planar torsion spring with the tangentially aligned compliant members composed of mirror-imaged arcs is introduced. The spring is designed with general hypotheses and the load conditions estimated by the finite element analysis. The suggested spring is verified through the comparison to an existing spring.