Etd
Modeling and Testing of a Series Elastic Actuator with Controllable Damping
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open in viewerCompliant Actuators are much safer than traditional stiff joint actuators, but at the cost of high overshoot, positional accuracy, and speed. A damper that varies its damping torque during motion is introduced to alleviate these downsides. The equations of motion for the system are derived and simulated. The simulations demonstrated a decrease in the overshoot and ringing time. A physical proof of concept was manufactured and tested. The results from the physical model were inconclusive due to a fault in the physical model. A more accurate physical test model is proposed, and is simulated.
- Creator
- Contributors
- Degree
- Unit
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- Language
- English
- Identifier
- etd-011112-161732
- Keyword
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- Committee
- Defense date
- Year
- 2012
- Date created
- 2012-01-11
- Resource type
- Rights statement
- Last modified
- 2021-02-01
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Permanent link to this page: https://digital.wpi.edu/show/4x51hj091