Research of dynamic dodel and stability of a series elastic actuator

Dynamitic model of series elastic actuator(SEA) is established using force source in this paper,the elastic component in which is simplified to a parallel link of stiffness and damp.Transfer functions of force-driven model are derived using Laplace transform.Furthermore,the stability and bandwidth of these models are analyzed using Nyquist criterion and Bode diagram respectively.The step and sinusoidal responses of the system are simulated using control and dynamitic simulation software.The experiments are accomplished using DSpace and SEA prototype.It is shown that the simulation result is basically in accord with that of experiment.The SEA prototype has stable force output.It is proved by the above analysis that the model established in this paper is accurate.