Design of series damper actuator

Authors:
Wei Zhou;Chee-meng Chew;Geok-soon Hong
Affiliations:
Department of mechanical engineering, national university of singapore, singapore119260;Department of mechanical engineering, national university of singapore, singapore119260;Department of mechanical engineering, national university of singapore, singapore119260
Venue:
Robotica
Year:
2009

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Abstract

In our previous work, a novel force control actuator, called series damper actuator (SDA), has been proposed. This paper proposes a general design procedure for the SDA system. From design requirements, several key parameters of the SDA plant can be determined. Based on these parameters, the selection or design of the series damper and the motor can be carried out. A case study is included to illustrate the effectiveness of the procedure. As there could be more than one feasible solutions from the procedure, the mechatronic design quotient (MDQ) method can be adopted to select the best solution from a feasible solution space.