直列弾性アクチュエータによる倣い動作の追従性に関する研究

抄録

A ground surface detection and following mechanism using series elastic actuator (SEA) has been developed for automatic lettuce harvester. However, its followability has not been fully discussed. To evaluate it, this study focuses on compliance characteristics which represents followable amplitude of displacement fluctuation calculated from transfer function. This paper shows the comparison of theoretical and experimental results of compliance characteristics by fabricated experimental apparatus.