Conference proceeding
A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction
2020 IEEE 16th International Workshop on Advanced Motion Control (AMC), pp.1-6
International Workshop on Advanced Motion Control
2020 IEEE 16th International Workshop on Advanced Motion Control (AMC), 16th (Kristiansand, Norway, 14/09/2020–16/09/2020)
10/11/2020
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Abstract
Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (pREI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.
Details
- Title
- A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction
- Creators
- Evan Dunwoodie - University of WollongongRahim Mutlu - University of WollongongBarkan Ugurlu - Özyeğin UniversityMehmet Yildirim - Özyeğin UniversityTarik Uzunovic - University of SarajevoEmre Sariyildiz - University of Wollongong
- Publication Details
- 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC), pp.1-6
- Conference
- 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC), 16th (Kristiansand, Norway, 14/09/2020–16/09/2020)
- Series
- International Workshop on Advanced Motion Control
- Publisher
- IEEE
- Number of pages
- 6
- Grant note
- University of Wollongong, Academic Research Fund Global Challenge 61750110525 / International Young Scientist program of National Natural Science Foundation of China; National Natural Science Foundation of China (NSFC) 215E138 / Scientific and Technological Research Council of Turkey (TUBITAK); Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK)
- Identifiers
- 991013245453502368
- Copyright
- © Copyright 2025 IEEE
- Academic Unit
- Faculty of Science and Engineering
- Language
- English
- Resource Type
- Conference proceeding