TY - DATA
T1 - Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac)
PY - 2021/01/26
AU - Manuel Aiple
UR - https://data.4tu.nl/articles/dataset/Solidworks_model_and_system_identification_data_of_the_Dynamic_Robotic_Actuator_Dyrac_/13625951/1
DO - 10.4121/13625951.v1
KW - variable impedance actuator
KW - cad
N2 - 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.<br>     Its effective stiffness range is 0.2-313 Nm/rad.<br>
ER -