Author
Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Şendur, Polat, Uğurlu, Regaip Barkan
Publication Date
2019
Publication Place
-
Springer Nature
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-3-030-01886-3
Record ID
40cbf47d-5dd0-47a1-8fc8-b9bda933ce4f
Library Location
Mechanical Engineering
Date
2019
Notes
TÜBİTAK
Sample Text
This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque output while containing its weight, the main objective was to satisfy dimensional and weight requirements within a compact structure. A three-fold design approach was implemented: (i) The torsional spring was designed using finite element analyses and its stiffness profile was experimentally tested via a torsional test machine, (ii) thermal behavior of the actuator was experimentally examined to ensure sufficient heat dissipation, (iii) the fatigue life of the spring was computed to be 9.5 years. Having manufactured the actuator, preliminary torque-control experiments were conducted. As the result, a high-fidelity torque control was achieved with a control bandwidth of up to 12 Hz.
Editör
Carrozza, M. C., Micera, S., Pons, J. L.
DOI
10.1007/978-3-030-01887-0_14
Cilt
22
