Title page for ETD etd-011112-161732

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
Abstract 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.
Files	siyer.pdf

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