Schuy, J. ; Beckerle, P. ; Faber, J. ; Wojtusch, Janis ; Rinderknecht, Stephan ; Stryk, Oskar von (2013)
Dimensioning and Evaluation of the Elastic Element in a Variable Torsion Stiffness Actuator.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Variable stiffness joints are essential for robots or biomechanical applications to generate torque with sufficient compliance to ensure safety simultaneously. This paper presents the dimensioning of the elastic element for an actuator with Variable Torsion Stiffness (VTS). Analytical and finite element calculations are compared to experimental evaluation of a splined shaft profile realized in a prototype implementation. Based on simplifications and effects in the real test-rig the results show similar behaviour. Furthermore, an analytical and finite element investigation of four cross-sections with torsional load illustrate optimal utilization of cylindrical geometries considering the torsional stress. In contrast, the low stressed edges of uncylindrical cross-sections are adequate areas to bear additional stresses.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Schuy, J. ; Beckerle, P. ; Faber, J. ; Wojtusch, Janis ; Rinderknecht, Stephan ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Dimensioning and Evaluation of the Elastic Element in a Variable Torsion Stiffness Actuator. |
| Sprache: | Englisch |
| Publikationsjahr: | 2013 |
| Buchtitel: | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Variable stiffness joints are essential for robots or biomechanical applications to generate torque with sufficient compliance to ensure safety simultaneously. This paper presents the dimensioning of the elastic element for an actuator with Variable Torsion Stiffness (VTS). Analytical and finite element calculations are compared to experimental evaluation of a splined shaft profile realized in a prototype implementation. Based on simplifications and effects in the real test-rig the results show similar behaviour. Furthermore, an analytical and finite element investigation of four cross-sections with torsional load illustrate optimal utilization of cylindrical geometries considering the torsional stress. In contrast, the low stressed edges of uncylindrical cross-sections are adequate areas to bear additional stresses. |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Institut für Mechatronische Systeme im Maschinenbau (IMS) 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik Interdisziplinäre Forschungsprojekte Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 08 Mai 2019 10:12 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum