Yay katsayısı sürekli değiştirilebilen seri elastik aktüatör tasarımı ve imalatı

Year 2019, Volume: 21 Issue: 2, 724 - 738, 28.06.2019

Ömer Pekdur Davut Akdaş

https://doi.org/10.25092/baunfbed.643900

Abstract

Hareketli robotlarda eklem tahriki için dişli kutusuna sahip elektrik motorları yaygın olarak kullanılmaktadır. Dişli kutusu çıkışında yüksek empedans görülmektedir. Robotlarda eklem hızlarına, hareket türüne ve dışarıdan gelecek darbelere karşı eklem empedansının sürekli olarak değiştirilmesi gereklidir. Bu soruna çözüm oluşturulması için dişli kutusunun çıkışına seri olarak yay ve benzeri elastik elemanlar kullanılmış ve bunların yay katsayıları değişik yöntemlerle değiştirilmeye çalışılmıştır. Kısıtlı hareket alanlarında başarı da elde edilmiştir. Bu çalışmada daha pratik mekanik uygulamaya ve daha geniş yay katsayısı aralığına sahip eleman geliştirilmesi hedeflenmiştir. Bu amaçla hava yayı geliştirilmiş ve bu elemanın değişik yük ve basınç aralıklarında karakteristiği çıkarılmıştır. İlk deneysel bulgularda, farklı basınçlar altında seri elastik elemanın deformasyon ve yük eğrileri elde edilmiş, bu elamanların geniş kuvvet aralıklarında etkin kullanılabileceğini görülmüştür.

Keywords

Seri elastik aktüatör, Hava yayı, eklem empedansı

Design and production of continuously variable series elastic actuator

Abstract

Electric motors with gearboxes are widely used for joint drive in moving robots. High impedance is observed at the gearbox output. It is necessary to continuously change the joint impedance against the joint speeds, type of movement and the impacts from the outside. In order to solve this problem, spring and similar elastic elements were used in series to the output of the gearbox and their spring coefficients were tried to be changed by different methods. Success was achieved in the limited range of motion. In this study, it is aimed to develop elements with more practical mechanical application and wider spring coefficient range. For this purpose, air spring has been developed and the characteristics of this element at different load and pressure ranges have been worked out. In the first experimental findings, the deformation and load curves of the series elastic elements under different pressures were obtained and it was seen that these elements could be used effectively in wide force ranges.

Keywords

Robotic foot design, robotic arm design, series elastic actuators, air spring

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