Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac)

  • Manuel Aiple (Creator)



CAD model of the Dynamic Robotic Actuator (Dyrac). The Dyrac actuator was developed in the frame to reproduce human hammering motions in a teleoperation scenario. The design requirements were were a stiffness changing time of 50 ms, a peak output velocity of 20 rad/s, and variable damping.
Performance measurements on the prototype showed an effective stiffness changing time of 50-120 ms for small to large stiffness steps, nominal output velocity of 16 rad/s, and a variable damper with a damping torque of 0-3 Nm.
Its effective stiffness range is 0.2-313 Nm/rad.
Date made available26 Jan 2021
PublisherTU Delft - 4TU.ResearchData

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