Compliant piezo-flexdrives for muscle-like, antagonistic actuation of robot joints

摘要

This work presents a piezoelectric actuator suitable for actuation of small-sized robot joints. The actuator is provided with position and force sensors and elastic force transmission elements. A novel linear load-compensated actuator model is developed for the actuator. A force controller with the concept of a virtual tendon for tendon slack prevention is presented and applied to the actuator. The mechatronic systems which result from the combination of the actuator, sensors and control strategies are used in an antagonistic arrangement as bioinspired technical implementations of muscles which drive a 1-DOF joint.