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.

Creator

• Iyer, Sidharth Suresh

贡献者

• Demetriou, Michael A.
• Fischer, Gregory S.
• Nestinger, Stephen

Degree

• MS

Unit

• Mechanical Engineering

Publisher

• Worcester Polytechnic Institute

Language

• English

Identifier

• etd-011112-161732

关键词

• Compliance with Precision
• SEA

Advisor

• Nestinger, Stephen

Committee

• Fischer, Gregory
• Demetriou, Michael A.

Defense date

• 2012-01-11

Year

• 2012

Date created

• 2012-01-11

Resource type

• Thesis

Rights statement

• In Copyright

最新修改

• 2021-02-01