Faculty Advisor

John Blandino

Faculty Advisor

Gregory Fischer

Faculty Advisor

Stephen Nestinger

Faculty Advisor

Michael Demetriou

Abstract

Compliant Actuators are much safer than traditional stiff joint actuators, but at the cost of high overshoot, positional accuracy, and speed. A damper that varies its damping torque during motion is introduced to alleviate these downsides. The equations of motion for the system are derived and simulated. The simulations demonstrated a decrease in the overshoot and ringing time. A physical proof of concept was manufactured and tested. The results from the physical model were inconclusive due to a fault in the physical model. A more accurate physical test model is proposed, and is simulated.

Publisher

Worcester Polytechnic Institute

Degree Name

MS

Department

Mechanical Engineering

Project Type

Thesis

Date Accepted

2012-01-11

Accessibility

Unrestricted

Subjects

Compliance with Precision, SEA

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