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Characterization and electro-mechanical modeling of a variable stiffness actuator with PVDF-based springs

Lapp, V. (2017) Characterization and electro-mechanical modeling of a variable stiffness actuator with PVDF-based springs.

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Abstract:As robots are becoming more ubiquitous, demand for robots capable of human-robot interaction and navigation in unknown and dynamic environments is growing. The design requirements for such applications motivate the development of variable sti�ness actuators (VSAs), i.e. compliant actuator systems with an element of adjustable sti�ness. Typically, VSAs are based on two motors: the �rst motor performs the actuating task, the other adjusts the sti�ness of the variable sti�ness element. To reduce the complexity of VSAs, a prototype of a VSA was tested that uses poly(vinylidene uoride) (PVDF) based electroactive samples that ful�ll the combined tasks of both the variable sti�ness element as well as the second motor. The bending de ection and sti�ness characteristics of di�erent unimorph sample designs were explored. A promising design was chosen, characterized and modelled using the Hammerstein model. The sti�ness of the VSA prototype based on the characterized samples was analyzed and a change of sti�ness was observed depending on the magnitude of the electric �eld applied to the electroactive samples.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/81011
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