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[ pdf ] Differential Elastic Actuator for Robotic Interaction Tasks

Differential Elastic Actuator for Robotic Interaction Tasks Download
Topic under  Rotary actuator
Source: www.gel.usherbrooke.ca 
File size: 2.8 MB
File type: pdf
Last download on: Sat Jun 24, 2017 09:29:56 AM
Short Desciption:
Robots are usually depicted as cold and stiff articulated machines. This is due to the fact that most industrial robots are fast and precise manipulators acting in constrained environments, using position- or velocity-controlled joints and stiff transmission mechanisms.

KThis paper explores some of the system dynamics and control issues for a short-stroke rotary actuator that we designed and tested for a new fast tool servo referred to as the 10 kHz rotary fast tool servo. The use of a fast tool servo (FTS) with a diamond turning machine for producing non-axisymmetric or textured surfaces on a workpiece is well known. In a previous paper [1] the authors provide details on the mechanical design and trade-oŽ issues that were considered during the design phase for the fast tool servo. At the heart of that machine is the normal-stress variable reluctance rotary actuator described in more detail in this paper. In addition to producing the torque that is needed for the 10 kHz rotary fast tool servo, the actuator produces a force and is therefore referred to as a hybrid rotary=linear actuator.
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