TY - GEN
T1 - An integrated design approach for a series elastic actuator
T2 - 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
AU - Yildirim, Mehmet C.
AU - Sendur, Polat
AU - Bilgin, Onur
AU - Gulek, Berk
AU - Guven Yapici, G.
AU - Ugurlu, Barkan
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/22
Y1 - 2017/12/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85044440598&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2017.8246902
DO - 10.1109/HUMANOIDS.2017.8246902
M3 - Conference contribution
AN - SCOPUS:85044440598
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 384
EP - 389
BT - 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PB - IEEE Computer Society
Y2 - 15 November 2017 through 17 November 2017
ER -