| Autor: |
Bergmann, L., Moazzami, C., Leonhardt, S., Ngo, C. |
| Rok vydání: |
2021 |
| Předmět: |
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| DOI: |
10.5281/zenodo.4922725 |
| Popis: |
Compliant actuators in exoskeletons for the lower extremities are increasingly used due to the smooth coupling between robot and patient. However, serial compliant actuators place higher demands on the model and control. For this reason, we present a workflow that allows 3D multi-domain modeling of the dynamic system. First, a 3D static model is designed in SolidWorks, then exported to Simscape and extended with the dynamic properties. The workflow is exemplified for a variable stiffness actuator. The model shows a high correlation to the system and can be used for further controller designs. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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