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Smart Structures and Systems Volume 11, Number 2, February 2013 , pages 135-161 DOI: https://doi.org/10.12989/sss.2013.11.2.135 |
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Modular and versatile platform for the benchmarking of modern actuators for robots |
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Elena Garcia and Pablo Gonzalez-de-Santos
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| Abstract | ||
| This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics. | ||
| Key Words | ||
| benchmarking of actuators; experimental testing; test bench design; modular and versatile design; instrumentation; force control | ||
| Address | ||
| Elena Garcia and Pablo Gonzalez-de-Santos : Field and Service Robotics Group, Centre for Automation and Robotics -CSIC-UPM 28500 Madrid, Spain | ||