Keywords

Series Elastic Actuator (SEA), Parallel Elastic Actuator (PEA), Series Parallel Elastic Actuator (SPEA), Cable Driven System, Upper Body Exosuit, Bi-Directional Motion

Abstract

In this thesis, design, integration and validation of Serial and Parallel Elastic Cable Actuator (SPECA) is presented with an aim to enhance human-device interaction in cable-driven systems of wearable robots and to optimize actuator force and power delivery to the user. Adding springs in series and in parallel to the cables acted on the mechanical joint for motion or force control have been shown individually to reduce mechanical power consumption and therefore electrical power consumption. SPECA combines both serial elastic (SE) and parallel elastic (PE) components to explore the compounded effects on a dual cable driven system controlled by a single actuator. A bi-articulating winch attached to the actuator allows control of two cables to achieve a bidirectional control of a revolute joint. Expanding the control of the single actuator, the dual cables route to a mechanical clutch that can engage up to two external winches, or four cables, simultaneously. SPECA is built as an isolated system with only the two winches of the clutch leading to end effectors creating a design capable of being integrated into many cable driven systems. A Simulink model is developed of a simple two degree of freedom (DOF) system to confirm that SE and PE elements not only increase the effective range of a system but lower the mechanical power. SPECA undergoes static and dynamic experiments to explore SE and PE in an applied system confirming the conclusions of the model along with recommendations based on observed characteristics from the experiments. SPECA serves as an exploratory and modular proof of concept for the integration of SE and PE components into many cable driven systems.

Completion Date

2024

Semester

Summer

Committee Chair

Park, Joon-Hyuk

Degree

Master of Science in Mechanical Engineering (M.S.M.E.)

College

College of Engineering and Computer Science

Department

Mechanical and Aerospace Engineering

Degree Program

Mechanical Systems

Format

application/pdf

Release Date

8-15-2029

Length of Campus-only Access

5 years

Access Status

Masters Thesis (Campus-only Access)

Campus Location

Orlando (Main) Campus

Accessibility Status

Meets minimum standards for ETDs/HUTs

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Restricted to the UCF community until 8-15-2029; it will then be open access.

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