Compliant actuation methods are popular in robotics applications where interaction with complex and unpredictable environments and objects is required. There are a number of ways of achieving this, but one common method is Series Elastic Actuation (SEA). In a recent version of their Unified Snake robot, Choset et al. incorporated a Series Elastic Element (SEE) in the form of a rubber torsional spring. This pa- per explores the possibility of using multi-material 3D printing to produce similar SEEs. This approach would facilitate the fabrication and testing of different spring variants and minimise the assembly required. This approach is evaluated by characterizing the behavior of two printed SEEs with different dimensions. The springs exhibit predictable viscoelastic behavior that is well described by a five element Wiechert model. We find that individual springs behave predictably and that multiple copies of the same spring design exhibit good consistency.
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