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Titel:

A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Dunwoodie, E.; Mutlu, R.; Ugurlu, B.; Yildirim, M.; Uzunovic, T.; Sariyildiz, E.
Abstract:
Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robo...     »
Stichworte:
actuators; elasticity; industrial robots; mobile robots; physical robot environment interaction applications; high-torque density SEA; high-output torque; light-weight actuators; torque outputs; exoskeleton robot; compact mechanical structures; series elastic actuators; compact actuators; dynamic environments; unknown environments; advanced robotic systems; use rigid actuators; high-torque density compliant actuator design; continuous output-torque; mass 2.5 kg; size 147.0 nm; size 467.0 nm; Act...     »
Kongress- / Buchtitel:
2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)
Jahr:
2020
Seiten:
1-6
Volltext / DOI:
doi:10.1109/AMC44022.2020.9244330
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