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

DOI:10.4121/13625951.v1
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DOI: 10.4121/13625951

Datacite citation style

Aiple, Manuel (2021): Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac). Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/13625951.v1
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

Dataset

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Licence

CC0

Interoperability

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.

History

  • 2021-01-26 first online, published, posted

Publisher

4TU.ResearchData

Funding

  • NWO H-Haptics research project 12161

Organizations

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

DATA

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