An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management

Yildirim, Mehmet C.; Şendur, Polat; Bilgin, Onur; Gulek, Berk; Yapıcı, Güney Güven; Uğurlu, Barkan

doi:10.1109/humanoids.2017.8246902

Cited by 10 publications

(8 citation statements)

References 21 publications

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“…An initial version of this research study including simulation results and preliminary break-up tests were presented. 13 The current manuscript significantly expands the research study and reports the complete experimental results. The improvements can be listed as below: (i) an optimization study for the torsional spring topology and further elaborations on the CAD integration, (ii) additional experiments on the spring to analyze the effect of strain-rate, (iii) newly-conducted experiments to analyze the thermal behavior, (iv) improved fatigue analysis based on real life experiment data, (v) newly-conducted torque control experiments to check the torque tracking capability.…”

Section: Introductionmentioning

confidence: 85%

“…An identical specimen was connected to TTM with two high-stiffness custom made connector to avoid coupling effects. 13 Three main experiments were performed on the specimen: stiffness test, break-up test, and strain rate test. While the break-up and strain rate tests were to understand the fundamentals of the spring, stiffness test was used to assess the stiffness of the spring and validate the FEM results.…”

Section: Experimental Verification Of the Springmentioning

confidence: 99%

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Design and development of a durable series elastic actuator with an optimized spring topology

Yildirim

Şendur

Kansizoglu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot applications. The main objective in designing the actuator was to meet weight and dimensional requirements whilst improving the long-term durability, ensuring high torque output, and containing its total weight. A four-fold design approach was implemented: (i) following recursive design-and-test procedures, an optimal torsional spring topology was unveiled with the help of SIMP (Solid Isotropic Material with Penalization) topology optimization method, (ii) the proposed spring was manufactured and multiple specimens were experimentally tested via a torsional test machine to validate linearity, loading rate response, and mechanical limits, (iii) the actuator’s thermal response was experimentally scrutinized to ensure that the generated heat was dissipated for long-term use, and (iv) the fatigue life of the spring was computed with the help of real-life experiment data. Having concluded the development and verification procedures, two different versions of the actuator were built, and preliminary torque control experiments were conducted. In conclusion, favorable torque tracking with a bandwidth of 19 Hz was achieved while peak-to-peak torque input was 20 Nm.

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Section: Introductionmentioning

confidence: 85%

Section: Experimental Verification Of the Springmentioning

confidence: 99%

Design and development of a durable series elastic actuator with an optimized spring topology

Yildirim

Şendur

Kansizoglu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The system includes a conventional lower body exoskeleton that can provide assistance through hip and knee F/E (Flexion/Extension) joints, in a similar manner to several commercially available devices [1]- [3]. In order to address high-fidelity torquecontrol capability, it is powered via custom-built series elastic actuators [22].…”

Section: A Exoskeleton Structurementioning

confidence: 99%

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

Uğurlu

Acer

Barkana

et al. 2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.

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“…Ancak, eklem kontrolünü gerçekleştirmek için kullanılan tork sensörleri eyleyici ünitesinin oldukça karmaşıklaşmasına yol açarlar [2], ve bu sensörlerin kalibrasyonu da oldukça zorlu işlemleri barındırır [3]. Bu duruma alternatif olarak kullanılan burulma yayları ise sistemin toplam ağırlığını arttırmakla beraber ikincil bir dönel kodlayıcının kullanımını zorunlu hale getirmektedir [4]. Bozunum gözetleyici (İng.…”

Section: Gi̇ri̇ş (Introduction)unclassified

Reaction Force Observer based Torque Control

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UĞURLU

2021

Politeknik Dergisi

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Bu makalede tepki kuvveti gözetleyicisi baz alınarak bir tork kontrolcüsü tasarlanmış ve etkinliği geri sürülebilir olmayan bir eyleyici ünitesi üzerinde deneysel olarak sınanmıştır. Fiziksel insan-robot etkileşimi için son derece yüksek bir öneme haiz olan tork kontrolü için genellikle tork sensörleri veya özel olarak üretilen burulma yayları kullanılmaktadır. Bu ekipmanlar ise hem sistemi karmaşıklaştırmakta, hem de toplam ağırlığı arttırmaktadır. Tepki kuvveti gözetleyici yöntemi ise sisteme etkiyen dış kuvvetleri kestirebilmekte ve bu sayede sensör kullanmaksızın tork kontrolünün uygulanmasına olanak sağlamaktadır. Bu kestirim genellikle geri sürülebilir sistemlerde daha sağlıklı işlemektedir, dolayısıyla geri sürülemeyen sistemlerde (örneğin 1:100 dişli oranlı sistemler) uygulaması sınırlıdır. Bu noktadan hareketle, geri sürülemeyen bir sistem için tepki kuvveti gözetleyicisi bazlı bir tork kontrolü tasarlanmış ve uygulanmıştır. Sonuç olarak sürtünme kompanzasyonu sağlandığında tepki kuvveti gözetleyicisinin tork kontrolünü sağlayabildiği deneysel bulgular ışığında saptanmıştır.

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An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management

Cited by 10 publications

References 21 publications

Design and development of a durable series elastic actuator with an optimized spring topology

Design and development of a durable series elastic actuator with an optimized spring topology

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance

Reaction Force Observer based Torque Control

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