The doi above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
doi: 10.4121/13625951

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

Dataset

• Mechanical Engineering

cad, variable impedance actuator

CC0

RefWorks, BibTeX, Reference Manager, Endnote, DataCite, NLM, DC, CFF

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.

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

4TU.ResearchData

• NWO H-Haptics research project 12161

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