1 Ocak 2021 Dergi makalesi Açık Erişim

Yildirim, Mehmet C.; Sendur, Polat; Kansizoglu, Ahmet Talha; Uras, Umut; Bilgin, Onur; Emre, Sinan; Yapici, Guney Guven; Arik, Mehmet; Ugurlu, Barkan

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  <identifier identifierType="URL">https://aperta.ulakbim.gov.tr/record/237738</identifier>
  <creators>
    <creator>
      <creatorName>Yildirim, Mehmet C.</creatorName>
      <givenName>Mehmet C.</givenName>
      <familyName>Yildirim</familyName>
      <affiliation>Tech Univ Munich TUM, Chair Robot &amp; Syst Intelligence, Munich, Germany</affiliation>
    </creator>
    <creator>
      <creatorName>Sendur, Polat</creatorName>
      <givenName>Polat</givenName>
      <familyName>Sendur</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Kansizoglu, Ahmet Talha</creatorName>
      <givenName>Ahmet Talha</givenName>
      <familyName>Kansizoglu</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Uras, Umut</creatorName>
      <givenName>Umut</givenName>
      <familyName>Uras</familyName>
      <affiliation>Villanova Univ, Dept Mech Engn, Villanova, PA 19085 USA</affiliation>
    </creator>
    <creator>
      <creatorName>Bilgin, Onur</creatorName>
      <givenName>Onur</givenName>
      <familyName>Bilgin</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Emre, Sinan</creatorName>
      <givenName>Sinan</givenName>
      <familyName>Emre</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Yapici, Guney Guven</creatorName>
      <givenName>Guney Guven</givenName>
      <familyName>Yapici</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Arik, Mehmet</creatorName>
      <givenName>Mehmet</givenName>
      <familyName>Arik</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
    <creator>
      <creatorName>Ugurlu, Barkan</creatorName>
      <givenName>Barkan</givenName>
      <familyName>Ugurlu</familyName>
      <affiliation>Ozyegin Univ, Dept Mech Engn, Istanbul, Turkey</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Design And Development Of A Durable Series Elastic Actuator With An Optimized Spring Topology</title>
  </titles>
  <publisher>Aperta</publisher>
  <publicationYear>2021</publicationYear>
  <dates>
    <date dateType="Issued">2021-01-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Text">Journal article</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://aperta.ulakbim.gov.tr/record/237738</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1177/09544062211020337</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="http://www.opendefinition.org/licenses/cc-by">Creative Commons Attribution</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot applications. The main objective in designing the actuator was to meet weight and dimensional requirements whilst improving the long-term durability, ensuring high torque output, and containing its total weight. A four-fold design approach was implemented: (i) following recursive design-and-test procedures, an optimal torsional spring topology was unveiled with the help of SIMP (Solid Isotropic Material with Penalization) topology optimization method, (ii) the proposed spring was manufactured and multiple specimens were experimentally tested via a torsional test machine to validate linearity, loading rate response, and mechanical limits, (iii) the actuator's thermal response was experimentally scrutinized to ensure that the generated heat was dissipated for long-term use, and (iv) the fatigue life of the spring was computed with the help of real-life experiment data. Having concluded the development and verification procedures, two different versions of the actuator were built, and preliminary torque control experiments were conducted. In conclusion, favorable torque tracking with a bandwidth of 19 Hz was achieved while peak-to-peak torque input was 20 Nm.</description>
  </descriptions>
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