Development of Servo-Units for a Compliantly Actuated Quadruped Prototype
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
This master thesis deals with the development of servo-motor-units as part of the quadrupedproject at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). To beable to perform highly dynamic motions such as jumping, the servo-motor-units of a quadrupedrobot require to produce high torque and velocity peaks on the one hand while being of compactsize and light weight on the other hand. This is achieved by means of taking an o the shelf servomotor-unit and replacing the electronics by a custom electronics which requests the maximumpower of the motors. The developed servo-motor-unit provides a compact powerful motor witha good position sensor and a real-time USB link. The rmware enables to command the motorwith a frequency of 1 kHz. The frequency of control loop and the communication can be setindependently from each other. In a second part the development of an automated test systemfor motors is described. The measurements showed that performance factors and the eciencyof the developed servo-motor-unit are almost on the same level of a high-end motor, speciallydesigned for application in robotic systems.It is interesting that the servo-motor-unit is almost as ecient as a high-end robot motor, butis about factor 10 cheaper.
Place, publisher, year, edition, pages
2016. , 116 p.
Technology, servomotor, series elastic actuators, firmware, motor, electronic, pcb, testbed, performance test
IdentifiersURN: urn:nbn:se:ltu:diva-51603Local ID: 8ccb5eed-6f0f-41be-b4f6-a32a172e6fb5OAI: oai:DiVA.org:ltu-51603DiVA: diva2:1024965
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Validerat; 20160216 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved