摘要
機器人在生活中的應用已逐漸成熟，而在學術上則為了增加機器人面對不同地形的運動能力，致動方法仍不斷地在研究中。直流馬達是常見於機器人身上所使用的致動器，透過電能到機械能的轉換，是相當精巧且簡單的致動方式。馬達會因為所操作的電壓和外界變動的負載，需要不斷的改變操作點以滿足各種動力需求。正是因為這樣單一的動力來源，當面臨到高功率或高耗能的操作點時，馬達往往會失去它優異的致動能力。本論文以上述的問題為發展動機，建構以馬達為主動動力輸入並配合彈簧調節動力輸出的致動器，希望能達成增加輸出轉矩/功率或能量使用效率的性能指標。論文中將涵蓋致動器的設計、動力操作的分析以及在特殊操作點時的應用驗證。在致動器設計中，發展了兩種版本的彈性致動器，一為機構原型設計以用於快速驗證概念，另一為基於前一版本開發更為穩定且具備多模式輸出的致動器。在動力操作分析中，從彈力位能的儲存和釋放兩方面去模擬和測試，並提出可行的動力調控策略，以進行有效率的能量轉移。最後在應用驗證中，透過特殊操作點的設計，實際驗證了在使用複合動力架構下具有顯著的馬達使用效率和性能指標提升。
並列摘要
The applications of the robots on our daily lives are increasingly mature, while in academics, the actuation methods for the robots are still under development since the robots are desired to have great actuation ability to face the various environment. DC motors are the most common actuator seen on robotic platforms, because their transfer of electrical power to mechanical power provides a simple and compact form of actuation. Because of the various power requirements placed on the motors, and differing voltages and loads, their required operating points are constantly changing. A high power, high energy-consumption output requirement may exceed the actuation capacity of a lone DC motor. The issues stated above are the starting point of this thesis. Presented in this paper is an actuator that utilizes a DC motor as primary power input, coupled with a spring to provide extra power when needed. The purpose of this actuator is to extend the output torque/power or the output efficiency of the DC motor. We will cover the basic design of the actuator, the control strategy used, and then verify the design under certain unusual circumstances. Two actuator designs are discussed: the first is a basic prototype that verifies the concept of such an actuator, and the second version builds upon the previous design and is more stable and the spring and motor are more coordinated. The control method is analyzed based on the storage and release of the spring potential energy, and a power modulation strategy that provides efficient energy transfer in and out of the system is presented. Finally, by operating the actuator at unusual operating points, we verify this hybrid actuator can effectively increase the motor efficiency and performance.