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Optimization-based Design and Analysis of Planar Rotary Springs

Georgiev, Nikola and Burdick, Joel (2018) Optimization-based Design and Analysis of Planar Rotary Springs. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 927-934. ISBN 978-1-5386-8094-0. https://resolver.caltech.edu/CaltechAUTHORS:20190314-130102583

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Abstract

This paper develops new methods to design high performance rotary series elastic actuator springs for robotics applications. The approach is based on a spring arm mathematical model that was previously introduced by the authors. The key contribution is the development of an optimization-based design method which maximizes the springs' overall torque density through optimization of the arm profile. An improved analysis algorithm allows for rapid torsional loading response simulation with possible internal contacts between the spring arms. The proposed design and analysis algorithms are validated through FEA and prototype mechanical testing.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2018.8594186DOIArticle
Additional Information:© 2018 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:20190314-130102583
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190314-130102583
Official Citation:N. Georgiev and J. Burdick, "Optimization-based Design and Analysis of Planar Rotary Springs," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 927-934. doi: 10.1109/IROS.2018.8594186
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93810
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:14 Mar 2019 20:17
Last Modified:03 Oct 2019 20:58

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