BENEFIT OF OPTIMAL ACTUATOR SELECTION - A COMPARATIVE STUDY

Hanna, P; Carmichael, M; Clemon, L

BENEFIT OF OPTIMAL ACTUATOR SELECTION - A COMPARATIVE STUDY

Hanna, P Carmichael, M

Clemon, L

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Publisher:: ASME International
Publication Type:: Conference Proceeding
Citation:: ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2022, 4
Issue Date:: 2022-01-01

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Field	Value	Language
dc.contributor.author	Hanna, P
dc.contributor.author	Carmichael, M https://orcid.org/0000-0001-8439-0074
dc.contributor.author	Clemon, L https://orcid.org/0000-0003-3808-7749
dc.date	2022-10-30
dc.date.accessioned	2023-04-13T00:47:11Z
dc.date.available	2023-04-13T00:47:11Z
dc.date.issued	2022-01-01
dc.identifier.citation	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2022, 4
dc.identifier.isbn	9780791886663
dc.identifier.uri	http://hdl.handle.net/10453/169705
dc.description.abstract	Actuators are a vital component, and often the limiting factor in robotics and robotic-related applications like humanoids, exoskeletons, prosthetics and orthosis. Actuator selection is critical due to system design flow-on effects including weight, energy consumption and form factor. A designer's challenge is often to optimize the actuator to minimize size or weight and meet the performance specifications usually with trade-offs. This paper investigates the design impacts of selecting more suited actuators on the system through a representative humanoid configuration performing a task. It also looks at variations based on the scale of the humanoid using human anthropometric data for variations in limb lengths. The torques and speeds required at each joint to complete the task is simulated and the system design is updated to keep a constant member stress across all designs. The total energy and weight are calculated and used to compare actuator selection impacts. By knowing the extent of the flow-on effects actuator selection has on a configuration, and how this effect scales, designers are able to determine what investment should be allocated to locating the ideal actuator for their task.
dc.language	en
dc.publisher	ASME International
dc.relation.ispartof	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
dc.relation.ispartof	Volume 4: Biomedical and Biotechnology; Design, Systems, and Complexity
dc.relation.isbasedon	10.1115/IMECE2022-94890
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	BENEFIT OF OPTIMAL ACTUATOR SELECTION - A COMPARATIVE STUDY
dc.type	Conference Proceeding
utslib.citation.volume	4
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - RI - Robotics Institute
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAM - Centre for Advanced Manufacturing
utslib.copyright.status	closed_access	*
dc.date.updated	2023-04-13T00:47:10Z
pubs.finish-date	2022-11-03
pubs.publication-status	Published
pubs.start-date	2022-10-30
pubs.volume	4

Abstract:

Actuators are a vital component, and often the limiting factor in robotics and robotic-related applications like humanoids, exoskeletons, prosthetics and orthosis. Actuator selection is critical due to system design flow-on effects including weight, energy consumption and form factor. A designer's challenge is often to optimize the actuator to minimize size or weight and meet the performance specifications usually with trade-offs. This paper investigates the design impacts of selecting more suited actuators on the system through a representative humanoid configuration performing a task. It also looks at variations based on the scale of the humanoid using human anthropometric data for variations in limb lengths. The torques and speeds required at each joint to complete the task is simulated and the system design is updated to keep a constant member stress across all designs. The total energy and weight are calculated and used to compare actuator selection impacts. By knowing the extent of the flow-on effects actuator selection has on a configuration, and how this effect scales, designers are able to determine what investment should be allocated to locating the ideal actuator for their task.

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http://hdl.handle.net/10453/169705