Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds

Name: Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
Author: Akın, Barış, Özçınar, Erim Can, Balcı, Barış, Emre, Sinan, Şendur, Polat, Bebek, Özkan, Ünal, Ramazan, Uğurlu, Regaip Barkan

İsim	Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
Yazar	Akın, Barış, Özçınar, Erim Can, Balcı, Barış, Emre, Sinan, Şendur, Polat, Bebek, Özkan, Ünal, Ramazan, Uğurlu, Regaip Barkan
Basım Tarihi:	2022
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1432-3419
Kayıt Numarası	ac0ada7c-c924-47d1-8c64-c6e8b78d6f62
Lokasyon	Mechanical Engineering
Tarih	2022
Örnek Metin	This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the actuator was to keep its total weight minimum while ensuring a high torque output. Therefore, the following design steps were implemented: i) the actuator was designed in accordance with the torque output requirement and the stress distribution that was mapped on actuator frames, ii) topology optimization was conducted on the initial design and it is modified in accordance with optimization results, and iii) the optima actuator design was built and tested on in a realistic scenario in which it powered an actual quadruped robot for validation. As the result, the proposed actuators could track the desired walking trajectory with a relatively low error. In conclusion, continuous torque output of 48 Nm was obtained via a lightweight (1.6-1.7 kg) actuator design.

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds

Yazar Akın, Barış, Özçınar, Erim Can, Balcı, Barış, Emre, Sinan, Şendur, Polat, Bebek, Özkan, Ünal, Ramazan, Uğurlu, Regaip Barkan

Basım Tarihi 2022

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1432-3419

Kayıt Numarası ac0ada7c-c924-47d1-8c64-c6e8b78d6f62

Lokasyon Mechanical Engineering

Tarih 2022

Örnek Metin This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the actuator was to keep its total weight minimum while ensuring a high torque output. Therefore, the following design steps were implemented: i) the actuator was designed in accordance with the torque output requirement and the stress distribution that was mapped on actuator frames, ii) topology optimization was conducted on the initial design and it is modified in accordance with optimization results, and iii) the optima actuator design was built and tested on in a realistic scenario in which it powered an actual quadruped robot for validation. As the result, the proposed actuators could track the desired walking trajectory with a relatively low error. In conclusion, continuous torque output of 48 Nm was obtained via a lightweight (1.6-1.7 kg) actuator design.