Compliant Actuators are much safer than traditional stiff joint actuators, but at the cost of high overshoot, positional accuracy, and speed. A damper that varies its damping torque during motion is introduced to alleviate these downsides. The equations of motion for the system are derived and simulated. The simulations demonstrated a decrease in the overshoot and ringing time. A physical proof of concept was manufactured and tested. The results from the physical model were inconclusive due to a fault in the physical model. A more accurate physical test model is proposed, and is simulated.
| Identifer | oai:union.ndltd.org:wpi.edu/oai:digitalcommons.wpi.edu:etd-theses-1061 |
| Date | 11 January 2012 |
| Creators | Iyer, Sidharth Suresh |
| Contributors | John J. Blandino, Committee Member, Gregory S. Fischer, Committee Member, Stephen S. Nestinger, Advisor, Michael A. Demetriou, Committee Member |
| Publisher | Digital WPI |
| Source Sets | Worcester Polytechnic Institute |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Masters Theses (All Theses, All Years) |
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