Design and experimental verification of a clutched parallel elastic actuation mechanism for legged locomotion

Download

Emre_Tanfener_Thesis.pdf

Date

2022-1

Author

Tanfener, Emre

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

350
views

329
downloads

This thesis presents modeling and system identification studies of a parallel elastically actuated robotic leg system and then details a clutch mechanism design to increase the overall efficiency of the system. The considered platform is a hopping mechanism constrained in the vertical axis that moves with the help of an electric motor and the integrated tension spring working parallel to the motor. To describe the dynamic motion of the mechanism, including the impact transitions, a linearized mass-spring damper model and a non-linear model that considers inertial properties of the leg mechanism are considered. A data-driven approach is used to identify the physical parameters of these models. The experimental validation procedure shows the accuracy of the models to predict the motion of the system and implies the linearity of the passive dynamic structure of the mechanism. In addition to the modeling and identification studies, the joint mobility problem of the parallel elastic actuators is addressed. The proposed clutch mechanism intends to bring a compact and reliable solution to this problem while being compatible with the desired dynamic structure of the legged system. A preliminary test setup is used to assess some critical aspects of the clutch. Also, a modular and compact design is built and integrated on the existing parallel elastic hopper as a proof of concept.

Subject Keywords

Legged locomotion, Parallel elastic actuation, Clutch mechanism, Parameter estimation

URI

https://hdl.handle.net/11511/96080

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Design of a GaN Based Integrated Modular Motor Drive Uğur, Mesut; Keysan, Ozan (2018-10-25) In this study, design procedure of an Integrated Modular Motor Drive (IMMD) is presented focusing on high power density. The design is based on a permanent magnet synchronous motor (PMSM) and GaN FETs. Fractional slot concentrated windings are used on the stator. Slot/pole combination and winding configuration is selected based on having low cogging torque and high winding factor. An extended motor drive inverter topology is proposed where 2-level voltage source inverters are connected both in series and pa...
ON ROBUSTNESS OF CONCURRENT LEARNING ADAPTIVE CONTROL TO TIME-VARYING DISTURBANCES AND SYSTEM UNCERTAINTIES Sarsilmaz, S. Burak; Kutay, Ali Türker; Yucelen, Tansel (2017-11-09) In this paper, we study the robustness characteristics of a recently developed concurrent learning model reference adaptive control approach to time-varying disturbances and system uncertainties. Specifically, the commonly-used constant (or slowly time-varying) assumption on disturbances and system uncertainties for this particular adaptive control approach is replaced with its bounded counterpart with piecewise continuous and bounded derivatives. Based on the Lyapunov's direct method, we then show that the...
Experimental evaluation of cable drum systems as linear motion sensors KILIÇ, ERGİN; Dölen, Melik; Koku, Ahmet Buğra (2011-04-15) This study evaluates cable-drum mechanisms as linear motion sensors for certain CNC applications. In this work, the dynamical attributes of a generic device are studied experimentally. The conducted research indicates that despite the significant traction force induced between the cable and its drum, small fluctuations in mechanism's speed yields a considerable (micro) slip at the interface.
Analysis and control of a body-attached spring-mass runner based on central pivot point approach Karagoz, O. Kaan; Sever, Izel; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-07-01) © 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is composed of single point mass attached to the ground (during stance phase) via an ideal lossless spring. Many researchers introduced various extensions to this fundamental model, such as damping torque actuation, to handle critical physical phenomena that are unavoidable in real systems. ...
Calculation of parameters of single-phase PM motor for design optimization Ertan, Hulusi Bülent; Capolino, GA (2005-09-01) This paper presents methods of calculation of parameters of single-phase permanent-magnet (SPPM) motor, in terms of motor dimensions and material properties, which are utilized in the dynamic model of the motor. The intention of the study is to develop means of SPPM performance calculations, which lend themselves to be employed within a mathematical design optimization approach. The calculated parameters are compared with measured values and are shown to be accurate for the purpose of the study.

Citation Formats

E. Tanfener, “Design and experimental verification of a clutched parallel elastic actuation mechanism for legged locomotion,” M.S. - Master of Science, Middle East Technical University, 2022.