Author
Yıldırım, M. C., Şendur, Polat, Kansızoğlu, Mehmet Taha, Uras, U., Bilgin, Onur, Emre, Sinan, Yapıcı, Güney Güven, Arık, Mehmet, Uğurlu, Regaip Barkan
Publication Date
2021-12
Publication Place
-
Sage
Subject
Force control, Optimal spring topology, Series elastic actuator
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
0954-4062
Record ID
32c1df10-c699-4ca9-85bf-439198c665a8
Library Location
Mechanical Engineering
Date
2021-12
Notes
TÜBİTAK
Sample Text
This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot applications. The main objective in designing the actuator was to meet weight and dimensional requirements whilst improving the long-term durability, ensuring high torque output, and containing its total weight. A four-fold design approach was implemented: (i) following recursive design-and-test procedures, an optimal torsional spring topology was unveiled with the help of SIMP (Solid Isotropic Material with Penalization) topology optimization method, (ii) the proposed spring was manufactured and multiple specimens were experimentally tested via a torsional test machine to validate linearity, loading rate response, and mechanical limits, (iii) the actuator’s thermal response was experimentally scrutinized to ensure that the generated heat was dissipated for long-term use, and (iv) the fatigue life of the spring was computed with the help of real-life experiment data. Having concluded the development and verification procedures, two different versions of the actuator were built, and preliminary torque control experiments were conducted. In conclusion, favorable torque tracking with a bandwidth of 19 Hz was achieved while peak-to-peak torque input was 20 Nm.
DOI
10.1177/09544062211020337
Cilt
235
