University of Twente Student Theses
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 stiffness actuators (VSAs), i.e. compliant actuator systems with an element of adjustable stiffness. Typically, VSAs are based on two motors: the first motor performs the actuating task, the other adjusts the stiffness of the variable stiffness element. To reduce the complexity of VSAs, a prototype of a VSA was tested that uses poly(vinylidene uoride) (PVDF) based electroactive samples that fulfill the combined tasks of both the variable stiffness element as well as the second motor. The bending de ection and stiffness characteristics of different unimorph sample designs were explored. A promising design was chosen, characterized and modelled using the Hammerstein model. The stiffness of the VSA prototype based on the characterized samples was analyzed and a change of stiffness was observed depending on the magnitude of the electric field 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: | https://purl.utwente.nl/essays/81011 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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