Design and development of a durable series elastic actuator with an optimized spring topology

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...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2021-12, Vol.235 (24), p.7848-7858
Hauptverfasser:	Yildirim, Mehmet C, Sendur, Polat, Kansizoglu, Ahmet Talha, Uras, Umut, Bilgin, Onur, Emre, Sinan, Yapici, Guney Guven, Arik, Mehmet, Ugurlu, Barkan
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Durability Fatigue life Isotropic material Loading rate Test procedures Thermal response Topology optimization Torque Weight
Online-Zugang:	Volltext
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