A high-torque density compliant actuator design for physical robot environment interaction

Name: A high-torque density compliant actuator design for physical robot environment interaction
Author: Dunwoodie, E., Mutlu, R., Uğurlu, Regaip Barkan, Yıldırım, Mehmet Can, Uzunovic, T., Sariyildiz, E.

İsim	A high-torque density compliant actuator design for physical robot environment interaction
Yazar	Dunwoodie, E., Mutlu, R., Uğurlu, Regaip Barkan, Yıldırım, Mehmet Can, Uzunovic, T., Sariyildiz, E.
Basım Tarihi:	2020
Basım Yeri	- IEEE
Konu	Human-robot interaction, Motion control, Physical robot environment interaction, Rehabilitation robotic, Rehabilitation robotics, Series elastic actuator
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-7281-3189-4
Kayıt Numarası	a345d505-d1cd-47b5-a961-839e2d648fc6
Lokasyon	Mechanical Engineering
Tarih	2020
Notlar	University of Wollongong, Academic Research Fund Global Challenge ; National Natural Science Foundation of China (NSFC) ; TÜBİTAK
Örnek Metin	Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (pREI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.
DOI	10.1109/AMC44022.2020.9244330

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A high-torque density compliant actuator design for physical robot environment interaction

Yazar Dunwoodie, E., Mutlu, R., Uğurlu, Regaip Barkan, Yıldırım, Mehmet Can, Uzunovic, T., Sariyildiz, E.

Basım Tarihi 2020

Basım Yeri - IEEE

Konu Human-robot interaction, Motion control, Physical robot environment interaction, Rehabilitation robotic, Rehabilitation robotics, Series elastic actuator

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-7281-3189-4

Kayıt Numarası a345d505-d1cd-47b5-a961-839e2d648fc6

Lokasyon Mechanical Engineering

Tarih 2020

Notlar University of Wollongong, Academic Research Fund Global Challenge ; National Natural Science Foundation of China (NSFC) ; TÜBİTAK

Örnek Metin Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (pREI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.

DOI 10.1109/AMC44022.2020.9244330