Techno Press
You logged in as Techno Press

Smart Structures and Systems
  Volume 11, Number 2, February 2013, pages 135-161

Modular and versatile platform for the benchmarking of modern actuators for robots
Elena Garcia and Pablo Gonzalez-de-Santos

    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
Elena Garcia and Pablo Gonzalez-de-Santos : Field and Service Robotics Group, Centre for Automation and Robotics -CSIC-UPM 28500 Madrid, Spain

Techno-Press: Publishers of international journals and conference proceedings.       Copyright © 2021 Techno Press
P.O. Box 33, Yuseong, Daejeon 305-600 Korea, Tel: +82-42-828-7996, Fax : +82-42-828-7997, Email: