Parallel-coupled micro-Macro Actuators

摘要

This paper presents a new actuator system consisting of a micro- actuator and a macro-actuator coupled in parallel via a compliant transmission. The system is called the parallel-coupled micro-macro actuator, or PaCMMA. In this system, the micro-actuator is capable of high-bandwidth Force control owing to its low mass and direct-drive connection to The output shaft. The compliant transmission of the macro-actuator Reduces the impedance (stiffness) at the output shaft, and increase The dynamic range of force.