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Title: Rotary elastic actuator
Keywords: Elastic, Torque, Friction, Rotary, Springs, Dynamics
Issue Date: 26-Sep-2004
Citation: CHAI MIN-WUI, EDDIE (2004-09-26). Rotary elastic actuator. ScholarBank@NUS Repository.
Abstract: This thesis presents a rotary elastic actuator, which is capable of torque control and improves the performances of a robotic system. The elastic flywheel which is coupled between the motor drive system and the output load provides torque feedback for the control loop. By introducing inner loop torque control into a typical position control loop, the performances of the actuator are found to be improved, while its elasticity adds flexibility into the robotic structure. The flexibility contributes to better impact load tolerance and "softens" the contact between the actuator and its working surface. The details of the mechanical designs of the rotary elastics actuator and its rigid model will be explained. The performances of the elastic actuator will be compared against its rigid counterpart using both computer simulated and experimental results.
Appears in Collections:Master's Theses (Open)

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