Seri elastik eyleyiciler için mekanik tasarım süreçleri

Year 2019, Volume: 25 Issue: 1, 34 - 42, 26.02.2019

Mehmet Can Yıldırım Polat Şendur Barkan Uğurlu

Abstract

Bu makalede
tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih
edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım
süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim
çalışmalarının anlamlı bir bütünlük teşkil edecek şekilde entegrasyonunu içeren
bu süreçlerin çıktıları ayrıca deneysel çalışmalar ile de sınanmış olup
ünitenin en kritik parçası olan burulma yayı üzerinde önemle durulmuştur. SEE
ünitesinin ilk sürümünde karşılaşılan zorluklar deneysel çalışmalar ışığında
paylamış ve robotik sistemlerin tahrikine hazır ikinci sürüm ile ilgili
sonuçlar ile makale sonlandırılmıştır.

Keywords

Seri elastik eyleyici, Sonlu elemanlar metodu, Burulma

Mechanical design procedures for series elastic actuators

Abstract

This
article presents the mechanical design procedures that were devised for the
development of series elastic actuators (SEA), a type of actuators that enable
joint level torque control of robots. These procedures include the synergistic
combination of studies that were conducted via simulation and CAD software
whose outcomes were experimentally verified, with a special emphasis on the torsional
spring, the most crucial element in the unit. Technical difficulties and
shortcomings that were encountered in the first version of the actuator are
disclosed with the help of experimental data. The article is concluded with the
results from the ready-to-use 2^nd version of our SEA.

Keywords

Series elastic actuator, Finite element methods, Torsion

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