Document Type thesis Author Name Iyer, Sidharth Suresh Email Address ssiyer5000 at gmail.com URN etd-011112-161732 Title Modeling and Testing of a Series Elastic Actuator with Controllable Damping Degree MS Department Mechanical Engineering Advisors Stephen Nestinger, Advisor Michael Demetriou, Committee Member Gregory Fischer, Committee Member John Blandino, Graduate Committee Rep Keywords Compliance with Precision SEA Date of Presentation/Defense 2012-01-11 Availability unrestricted
Compliant Actuators are much safer than traditional stiff joint actuators, but at the cost of high overshoot, positional accuracy, and speed. A damper that varies its damping torque during motion is introduced to alleviate these downsides. The equations of motion for the system are derived and simulated. The simulations demonstrated a decrease in the overshoot and ringing time. A physical proof of concept was manufactured and tested. The results from the physical model were inconclusive due to a fault in the physical model. A more accurate physical test model is proposed, and is simulated.
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