Name
Title | ||
|---|---|---|
An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management |
Abstract | ||
|---|---|---|
This paper presents an integrated mechanical design approach for the long-term and repetitive use of series elastic actuators (SEAs). Already, computational models for series elastic actuator design have been developed in order to address the challenging weight and volume targets. However, an integrated design method in which the coupling effects between various interacting requirements that are explored at every stage of the design cycle does not exist. In particular, the interactions between the torsional stiffness, strength, fatigue life and thermal performance are not analyzed in-depth. To this end, we propose a comprehensive design approach in which the aforementioned requirements (FEA, stiffness formulation, fatigue analysis, and thermal management) are integrated in a complementary manner. Computer-aided analyses and experimental results verified the effectiveness of our design approach. The proposed approach is employed to manufacture our SEA module CoEx-SEA. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/HUMANOIDS.2017.8246902 | 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) |
Keywords | Field | DocType |
CoEx-SEA,torsional stiffness,series elastic actuator design,thermal management,fatigue analysis | Coupling,Torque,Torsion (mechanics),Stiffness,Computer science,Control theory,Finite element method,Computational model,Integrated design,Actuator,Structural engineering | Conference |
ISBN | Citations | PageRank |
978-1-5386-4679-3 | 1 | 0.36 |
References | Authors | |
11 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mehmet Can Yildirim | 1 | 2 | 1.45 |
| Polat Sendur | 2 | 2 | 1.45 |
| Onur Bilgin | 3 | 1 | 0.36 |
| Berk Gulek | 4 | 1 | 0.36 |
| G. Guven Yapici | 5 | 1 | 0.36 |
| Barkan Ugurlu | 6 | 116 | 14.58 |