Design And Development Of A Durable Series Elastic Actuator With An Optimized Spring Topology
| Autor: | Umut Uras, Barkan Ugurlu, Mehmet Arik, Polat Sendur, Guney Guven Yapici, Sinan Emre, Onur Bilgin, Mehmet C. Yildirim, Ahmet Talha Kansizoglu |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Integrated design Series (mathematics) Computer science Mechanical Engineering Torsion (mechanics) Mechanical engineering Topology (electrical circuits) 02 engineering and technology 020303 mechanical engineering & transports 020901 industrial engineering & automation Development (topology) 0203 mechanical engineering Spring (device) Actuator |
| Popis: | This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot applications. The main objective in designing the actuator was to meet weight and dimensional requirements whilst improving the long-term durability, ensuring high torque output, and containing its total weight. A four-fold design approach was implemented: (i) following recursive design-and-test procedures, an optimal torsional spring topology was unveiled with the help of SIMP (Solid Isotropic Material with Penalization) topology optimization method, (ii) the proposed spring was manufactured and multiple specimens were experimentally tested via a torsional test machine to validate linearity, loading rate response, and mechanical limits, (iii) the actuator’s thermal response was experimentally scrutinized to ensure that the generated heat was dissipated for long-term use, and (iv) the fatigue life of the spring was computed with the help of real-life experiment data. Having concluded the development and verification procedures, two different versions of the actuator were built, and preliminary torque control experiments were conducted. In conclusion, favorable torque tracking with a bandwidth of 19 Hz was achieved while peak-to-peak torque input was 20 Nm. |
| Databáze: | OpenAIRE |
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