Worcester Polytechnic Institute Electronic Theses and Dissertations Collection

Title page for ETD etd-011112-161732

Document Typethesis
Author NameIyer, Sidharth Suresh
Email Address ssiyer5000 at gmail.com
TitleModeling and Testing of a Series Elastic Actuator with Controllable Damping
DepartmentMechanical Engineering
  • Stephen Nestinger, Advisor
  • Michael Demetriou, Committee Member
  • Gregory Fischer, Committee Member
  • John Blandino, Graduate Committee Rep
  • Keywords
  • Compliance with Precision
  • SEA
  • Date of Presentation/Defense2012-01-11
    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.

  • siyer.pdf

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