Inertia driven controlled passive actuation with the Dual-Hemi CVT

Talele, A.S.T. (2016) Inertia driven controlled passive actuation with the Dual-Hemi CVT.

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Abstract:Significant energy loss occurs by using the electrical actuators in legged locomotion of walking robots. To develop the energy efficient walking robots by providing the efficient actuation method as an alternative to the electrical actuators, this research focused on development of Inertia driven controlled passive actuation with the DH-CVT. To accomplish the goal of this research, an experimental setup for the inertia driven CPA is prepared with suitable load disc and flywheel modeling. The three control layers such as servo control, torque control and ratio control are implemented to simulate the complete DH-CVT system. The simulation results showed that the load can be actuated using the energy stored in the flywheel and hence the inertia driven CPA can be applied in practice. Further, the inertia driven experiment was designed accordingly. Finally, the unexpected results obtained from the demonstration of inertia driven CPA experiment inferred that the inertia driven CPA cannot be successfully demonstrated at the current state of research. Further research discovered the hysteresis phenomena in the mechanical system of DH-CVT causing the problem. Moreover, faster drain of stored energy showed that friction in the DH-CVT system is significantly higher than the considered friction. More research is required to obtain the solution prior to the successful demonstration of the inertia driven CPA.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Systems and Control MSc (60359)
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