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Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac)

dataset
posted on 26.01.2021, 07:32 by Manuel Aiple
CAD model of the Dynamic Robotic Actuator (Dyrac). The Dyrac actuator was developed in the frame to reproduce human hammering motions in a teleoperation scenario. The design requirements were were a stiffness changing time of 50 ms, a peak output velocity of 20 rad/s, and variable damping.
Performance measurements on the prototype showed an effective stiffness changing time of 50-120 ms for small to large stiffness steps, nominal output velocity of 16 rad/s, and a variable damper with a damping torque of 0-3 Nm.
Its effective stiffness range is 0.2-313 Nm/rad.

Funding

NWO H-Haptics research project 12161

History

Publisher

4TU.ResearchData

Organizations

TU Delft, Faculty of Mechanical, Maritime and Materials Engineering, Department of BioMechanical Engineering

Licence

Exports

Delft University of Technology

Licence

Exports