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Design and analysis of planar rotary springs

Georgiev, Nikola and Burdick, Joel (2017) Design and analysis of planar rotary springs. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 4777-4784. ISBN 978-1-5386-2682-5.

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This paper is concerned with the analysis, design, and prototyping of rotary planar springs for robotics applications such as rotary series elastic actuators, or mechanical couplings. The key contribution is the development of a mathematical model, based on curved beam theory, that allows rapid design, analysis, and optimization of rotary springs that have arbitrary arm shape. The paper also introduces methods to reduce the spring mass via composite arm structures, or arm cutouts. A prototype is designed, analyzed and tested to demonstrate the validity of the model.

Item Type:Book Section
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Additional Information:© 2017 IEEE. This work was partially supported by the Robotics Collaborative Technology Alliance.
Funding AgencyGrant Number
Robotics Collaborative Technology Alliance (RCTA)UNSPECIFIED
Record Number:CaltechAUTHORS:20180405-152512922
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Official Citation:N. Georgiev and J. Burdick, "Design and analysis of planar rotary springs," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 4777-4784. doi: 10.1109/IROS.2017.8206352. URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85659
Deposited By: Tony Diaz
Deposited On:05 Apr 2018 22:47
Last Modified:03 Oct 2019 19:34

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