Author
Yıldırım, Mehmet Can, Şendur, Polat, Uğurlu, Regaip Barkan
Publication Date
2019
Publication Place
-
Pamukkale University
Subject
Series elastic actuator, Finite element methods, Torsional spring design, Series elastic actuator, Finite element method, Torsional spring design
Type
Periodical
Language
Turkish
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1300-7009
Record ID
e0ebbbca-af07-4d88-8a65-743ce395e862
Library Location
Mechanical Engineering
Date
2019
Sample Text
In this article, the design processes developed for series elastic actuator (SEE) units, which are frequently preferred in the robotics literature for torque-controlled robot joint drive, are discussed. The outputs of these processes, which include the integration of computer-aided design and simulation studies to form a meaningful integrity, have also been tested with experimental studies, and emphasis has been placed on the torsion spring, which is the most critical part of the unit. The difficulties encountered in the first version of the SEE unit were shared in the light of experimental studies, and the article was concluded with the results regarding the second version ready for the drive of robotic systems., This article presents the mechanical design procedures that were devised for the development of series elastic actuators (SEA), a type of actuators that enable joint level torque control of robots. These procedures include the synergistic combination of studies that were conducted via simulation and CAD software whose outcomes were experimentally verified, with a special emphasis on the torsional spring, the most crucial element in the unit. Technical difficulties and shortcomings that were encountered in the first version of the actuator are described with the help of experimental data. The article is concluded with the results from the ready-to-use 2nd version of SEA.
Cilt
25
