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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. http://resolver.caltech.edu/CaltechAUTHORS:20180405-152512922

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Abstract

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
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2017.8206352DOIArticle
http://ieeexplore.ieee.org/document/8206352PublisherArticle
Additional Information:© 2017 IEEE. This work was partially supported by the Robotics Collaborative Technology Alliance.
Funders:
Funding AgencyGrant Number
Robotics Collaborative Technology Alliance (RCTA)UNSPECIFIED
Record Number:CaltechAUTHORS:20180405-152512922
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180405-152512922
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: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8206352&isnumber=8202121
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85659
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Apr 2018 22:47
Last Modified:05 Apr 2018 22:47

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