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Dimensioning and Evaluation of the Elastic Element in a Variable Torsion Stiffness Actuator.

Schuy, J. and Beckerle, P. and Faber, J. and Wojtusch, Janis and Rinderknecht, Stephan and 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. and Beckerle, P. and Faber, J. and Wojtusch, Janis and Rinderknecht, Stephan and 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
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