Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Development of Servo-Units for a Compliantly Actuated Quadruped Prototype
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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.
Keyword [en]
Technology, servomotor, series elastic actuators, firmware, motor, electronic, pcb, testbed, performance test
Keyword [sv]
Teknik
Identifiers
URN: urn:nbn:se:ltu:diva-51603Local ID: 8ccb5eed-6f0f-41be-b4f6-a32a172e6fb5OAI: oai:DiVA.org:ltu-51603DiVA: diva2:1024965
External cooperation
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Examiners
Note
Validerat; 20160216 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(26660 kB)199 downloads
File information
File name FULLTEXT02.pdfFile size 26660 kBChecksum SHA-512
f3bc323fd56ce95bf5f74046b4e6fb5a30be5ae4216375a0c8f0034aa015154358dc0b669b060cc9d78156b538410441d9aa8a435a0333d4f8c99f828d3b89fd
Type fulltextMimetype application/pdf

Search outside of DiVA

GoogleGoogle Scholar
Total: 199 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 86 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf