Back to Search

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

Title	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
Publication Date:	2022
Publication Place	- IEEE
Type	Document
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	1432-3419
Record ID	ac0ada7c-c924-47d1-8c64-c6e8b78d6f62
Library Location	Mechanical Engineering
Date	2022
Sample Text	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.

View in source Özyeğin University Özyeğin University - Historical works, archives, and periodicals search engine

Özyeğin University

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

Publication Date 2022

Publication Place - IEEE

Type Document

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 1432-3419

Record ID ac0ada7c-c924-47d1-8c64-c6e8b78d6f62

Library Location Mechanical Engineering

Date 2022

Sample Text 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.