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dc.contributor.authorPang, Zhoubaoen
dc.date.accessioned2020-06-27T08:01:13Z
dc.date.available2020-06-27T08:01:13Z
dc.date.issued2020-06-26
dc.identifier.othervt_gsexam:26779en
dc.identifier.urihttp://hdl.handle.net/10919/99159
dc.description.abstractExoskeletons and humanoid robots require high-power, low-weight, and back-driveable actuators. This paper describes the design and analysis of a high-force linear series elastic actuator for a lower body exoskeleton. The actuator is powered by two motors and utilize a liquid cooling system to increase its maximum continuous torque. The actuator is capable of outputting a maximum continuous force of 4800N and a maximum speed of 0.267 m/s with a maximum continuous motor current of 18A. The Titanium leaf spring was used in the actuator to provide compliance. The spring has a median stiffness of 587 N/mm with standard deviation of 38 N/mm, validated by experiments. Dynamic model was created to analyze the normal modes and can be used for developing model-based controllers.en
dc.format.mediumETDen
dc.publisherVirginia Techen
dc.rightsThis item is protected by copyright and/or related rights. Some uses of this item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en
dc.subjectSeries Elastic Actuatorsen
dc.subjectLiquid Cooling Systemen
dc.subjectDynamic Modelingen
dc.subjectTransfer Functionen
dc.subjectExoskeletonen
dc.titleModeling, Analysis, and Experimental Validation of an Electric Linear Series Elastic Actuator for an Exoskeletonen
dc.typeThesisen
dc.contributor.departmentMechanical Engineeringen
dc.description.degreeMaster of Scienceen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelmastersen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.disciplineMechanical Engineeringen
dc.contributor.committeechairLeonessa, Alexanderen
dc.contributor.committeechairAsbeck, Alan Thomasen
dc.contributor.committeememberAkbari Hamed, Kavehen
dc.description.abstractgeneralCompliant Linear actuators with ball screw have become popular for humanoids robots and exoskeleton. The use of ball screw lead to high efficiency, high gear ratio and high back-drivability. The compliance or the ''softness'' of the actuator comes from Titanium leaf spring, which can storage energy during gait cycle and protect motor and the ball screw from impacts of walking. The custom liquid cooling system improves the force density for the actuator. Beam theory analysis, heat transfer analysis, and dynamics analysis were performed to provides insights for the actuator system.en


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