Yay katsayısı sürekli değiştirilebilen seri elastik aktüatör tasarımı ve imalatı

Ömer Pekdur, Davut Akdaş

Öz


Hareketli robotlarda eklem tahriki için dişli kutusuna sahip elektrik motorları yaygın olarak kullanılmaktadır. Dişli kutusu çıkışında yüksek empedans görülmektedir. Robotlarda eklem hızlarına, hareket türüne ve dışarıdan gelecek darbelere karşı eklem empedansının sürekli olarak değiştirilmesi gereklidir. Bu soruna çözüm oluşturulması için dişli kutusunun çıkışına seri olarak yay ve benzeri elastik elemanlar kullanılmış ve bunların yay katsayıları değişik yöntemlerle değiştirilmeye çalışılmıştır. Kısıtlı hareket alanlarında başarı da elde edilmiştir. Bu çalışmada daha pratik mekanik uygulamaya ve daha geniş yay katsayısı aralığına sahip eleman geliştirilmesi hedeflenmiştir. Bu amaçla hava yayı geliştirilmiş ve bu elemanın değişik yük ve basınç aralıklarında karakteristiği çıkarılmıştır. İlk deneysel bulgularda, farklı basınçlar altında seri elastik elemanın deformasyon ve yük eğrileri elde edilmiş, bu elamanların geniş kuvvet aralıklarında etkin kullanılabileceğini görülmüştür.


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