University of Twente Student Theses


Design and Development of Variable Impedance Actuator using a Multi Axis Motor

Palani, Vignesh (2023) Design and Development of Variable Impedance Actuator using a Multi Axis Motor.

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Abstract:This research focuses on improving the interaction of robots with their environment by merging two key robotic technologies- Variable Impedance Actuators(VIAs) and multi-axis motors. The former helps the robot to move more like humans, being flexible and safe. The latter offers control over multiple rotational axes, facilitating multi-dimensional movements and increasing the degrees of freedom in robotic systems. Despite their individual benefits, each technology has challenges, notably the torque limitations of multi-axis motors and the complexity of VIA design. This study proposes the integration of these technologies to address these issues, resulting in a more compact, compliant, and efficient actuator system. This research investigates various VIA categories and multi-axis motor designs, followed by the development of an integrated actuator system. It also explores the optimal spring type for the developed VIA design and the efficient control of actuator stiffness and position. The realized model demonstrates significant potential for creating a highly adaptable VIA using a multi-axis motor without compromising precision. The efficient use of a multi-axis motor in the developed model minimizes wiring requirements and opens up the possibility for a relatively simple controller to control the entire mechanism.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 53 electrotechnology
Programme:Systems and Control MSc (60359)
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