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

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)
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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
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