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.
In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM),
[Conference or Workshop Item]
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.
| Item Type: | Conference or Workshop Item |
|---|---|
| Erschienen: | 2013 |
| Creators: | Schuy, J. ; Beckerle, P. ; Faber, J. ; Wojtusch, Janis ; Rinderknecht, Stephan ; Stryk, Oskar von |
| Title: | Dimensioning and Evaluation of the Elastic Element in a Variable Torsion Stiffness Actuator. |
| Language: | English |
| 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. |
| Title of Book: | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
| Divisions: | 16 Department of Mechanical Engineering 16 Department of Mechanical Engineering > Institute for Mechatronic Systems in Mechanical Engineering (IMS) 20 Department of Computer Science 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group Interdisziplinäre Forschungsprojekte Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik |
| Date Deposited: | 20 Jun 2016 23:26 |
| Identification Number: | SchuyAIM:2013 |
| Corresponding Links: | |
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