%0 Generic
%A Aiple, Manuel
%D 2021
%T Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac)
%U https://data.4tu.nl/articles/dataset/Solidworks_model_and_system_identification_data_of_the_Dynamic_Robotic_Actuator_Dyrac_/13625951/1
%R 10.4121/13625951.v1
%K variable impedance actuator
%K cad
%X <div>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.</div><div>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.<br>     Its effective stiffness range is 0.2-313 Nm/rad.<br></div>
%I 4TU.ResearchData