Barber, A, Culmer, P orcid.org/0000-0003-2867-0420 and Boyle, JH (2015) Development and Characterisation of a Multi-material 3D Printed Torsion Spring. In: Dixon, C and Tuyls, K, (eds.) Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Towards Autonomous Robotic Systems, 08-10 Sep 2015, Liverpool. Springer , pp. 44-49. ISBN 978-3-319-22415-2
Abstract
Compliant actuation methods are popular in robotics applications where interaction with complex and unpredictable environments and objects is required. There are a number of ways of achieving this, but one common method is Series Elastic Actuation (SEA). In a recent version of their Unified Snake robot, Choset et al. incorporated a Series Elastic Element (SEE) in the form of a rubber torsional spring. This pa- per explores the possibility of using multi-material 3D printing to produce similar SEEs. This approach would facilitate the fabrication and testing of different spring variants and minimise the assembly required. This approach is evaluated by characterizing the behavior of two printed SEEs with different dimensions. The springs exhibit predictable viscoelastic behavior that is well described by a five element Wiechert model. We find that individual springs behave predictably and that multiple copies of the same spring design exhibit good consistency.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2015, Springer. This is an author produced version of a paper published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. The final publication is available at Springer via https://doi.org/10.1007/978-3-319-22416-9_6 |
Keywords: | Series Elastic Actuation; 3D Printing; Compliance |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 25 Jun 2015 14:24 |
Last Modified: | 01 Jul 2017 14:47 |
Published Version: | https://doi.org/10.1007/978-3-319-22416-9_6 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/978-3-319-22416-9_6 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:87367 |