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What is the 'Effort' parameter?
Posted: Thu Jul 01, 2021 1:19 pm
by hebi_newbie
I'm a little confused about what 'effort' means. When I measure it in a static actuator module, the value is showing up as -0.20 Nm, when I'm expecting it to be 0 (zero).
Can you help me understand this parameter?
Re: What is the 'Effort' parameter?
Posted: Thu Jul 01, 2021 1:31 pm
by hebi_guru
The "effort" reading is really just a reading of the torque, and is based on the output of the actuator.
As these are series elastic actuators with a spring element in them, there is some hysteresis that comes along with the torque calibration. When you apply a load in one direction on the actuators and return it back to 0 deflection you won't necessarily return to an absolute reading of 0 Nm.
We do our best to calibrate and model this hysteresis in each actuator, but that is your standard source of error in the "effort"/torque readings you will see.
Here are some example calibration plots to show you the hysteresis found in our Series Elastic actuators.
- image (9).png (200.42 KiB) Viewed 5190 times
- image (10).png (178.7 KiB) Viewed 5190 times