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Warning: Undefined array key "media" in /is/htdocs/wp1019470_OPI92FFHXV/www/wikiLehre/feed.php on line 419 Institut für Sportwissenschaft adp_laufrobotik:adp_2013:technical_design:actuation_box
http://wiki.ifs-tud.de/
2024-04-28T06:37:04+00:00Institut für Sportwissenschaft
http://wiki.ifs-tud.de/
http://wiki.ifs-tud.de/ttp://wiki.ifs-tud.de/lib/tpl/dokuwiki/images/favicon.icotext/html2022-11-28T01:11:07+00:00Anonymous (anonymous@undisclosed.example.com)Aluminium profiles
http://wiki.ifs-tud.de/adp_laufrobotik/adp_2013/technical_design/actuation_box/aluminium_profiles?rev=1669594267&do=diff
Aluminium profiles
Most parts of the frame and the actuation box consist of aluminum profiles of the company “Item Industrietechnik GmbH”, which are characterized by low mass and high modularity because of standardized proportions and adapters. They are needed in the sizestext/html2022-11-28T01:11:07+00:00Anonymous (anonymous@undisclosed.example.com)Design
http://wiki.ifs-tud.de/adp_laufrobotik/adp_2013/technical_design/actuation_box/design?rev=1669594267&do=diff
Design
In order to achieve light weighting and low costs, parts of the actuation box are integrated in the frame. The latter is designed with aluminum profiles 80×40 mm. These are connect- ed with angle brackets. The dimensions of the frame are 1500 x 360 x 980 mm (length x width x height). Electric motor and planetary drive are fixed on the left side of the actuation box, which increases the length of the whole design to about 1750 mm.text/html2022-11-28T01:11:07+00:00Anonymous (anonymous@undisclosed.example.com)Electric motor
http://wiki.ifs-tud.de/adp_laufrobotik/adp_2013/technical_design/actuation_box/electric_motor?rev=1669594267&do=diff
Electric motor
The actuator is selected by power. The required value comes from the simulation. Because of the large variety of electric motors, the possibility to connect them to a large amount of different transmissions and the lower costs, compared to linear motors, an electric motor - in this case a brushless DC motor - is used to actuate the demonstrator. To achieve the required values of \begin{align*}
F_{max} &= \frac{M_{max,knee}}{2*r_{sheave}}\\
v_{max} &= \dot{\phi}_{max,knee} *…text/html2022-11-28T01:11:07+00:00Anonymous (anonymous@undisclosed.example.com)Linear bearings
http://wiki.ifs-tud.de/adp_laufrobotik/adp_2013/technical_design/actuation_box/linear_bearings?rev=1669594267&do=diff
Linear bearings
To lead the end of the Bowden cable, the spring and other components, linear bearings are necessary. To be able to connect them to the aluminum profiles without any adapters, the bearings are also from “item”. These are profiled steel rail guide systems.text/html2022-11-28T01:11:07+00:00Anonymous (anonymous@undisclosed.example.com)Spring
http://wiki.ifs-tud.de/adp_laufrobotik/adp_2013/technical_design/actuation_box/spring?rev=1669594267&do=diff
Spring
During the landing phase the kinetic energy of the moving leg has to be converted. To save energy and use it for the next jump, a spring is needed. The simulation optimized the spring constant to save as much energy as possible. This spring constant is optimized for jumping, so that it can be different for other motions. The translational spring constant can be calculated using the optimal rotational spring stiffness, 350 Nm/rad. The pulley radius has the value 34 mm. This yields a theor…