Abstract
Compliant actuation methods are popular in robotics applications where interaction with complex and unpredictable environments and objects is required. There are a number of ways of achieving this, but one common method is Series Elastic Actuation (SEA). In a recent version of their Unified Snake robot, Choset et al. incorporated a Series Elastic Element (SEE) in the form of a rubber torsional spring. This paper explores the possibility of using multi-material 3D printing to produce similar SEEs. This approach would facilitate the fabrication and testing of different springs and minimize the assembly required. This approach is evaluated by characterizing the behavior of two configurations of SEE, 3d printed with different dimensions. The springs exhibit predictable viscoelastic behavior that is well described by a five element Wiechert model. We find that individual springs behave predictably and that multiple copies of the same spring design exhibit good consistency.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Pratt, G.A., Williamson, M.M.: Series elastic actuators. In: Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems 1995. ‘Human Robot Interaction and Cooperative Robots’, vol. 1, pp. 399–406. IEEE (1995)
Rollinson, D., Bilgen, Y., Brown, B., Enner, F., Ford, S., Layton, C., Rembisz, J., et al.: Design and architecture of a series elastic snake robot. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 4630–4636. IEEE (2014)
Boyle, J.H., Johnson, S., Dehghani-Sanij, A.A.: Adaptive undulatory locomotion of a C. elegans inspired robot. IEEE/ASME Transactions on Mechatronics 18(2), 439–448 (2013)
Schiavi, R., Grioli, G., Sen, S., Bicchi, A.: VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 2171–2176. IEEE (2008)
Rollinson, D., Ford, S., Brown, B., Choset, H.: Design and modeling of a series elastic element for snake robots. In: ASME 2013 Dynamic Systems and Control Conference, pp. V001T08A002-V001T08A002. American Society of Mechanical Engineers (2013)
Objet1000 Information, Stratasys Website. http://www.stratasys.com/3d-printers/production-series/objet1000-plus
Kappassov, Z., et al.: Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. In: 2013 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE (2013)
E10000 Information, Instron Website. http://www.instron.com/products/testing-systems/dynamic-and-fatigue-systems/electropuls/e10000---linear-torsion
Wang, X., Di Natali, C., Beccani, M., Kern, M., Valdastri, P., Rentschler, M.: Novel medical wired palpation device: a validation study of material properties. In: 2013 Transducers & Eurosensors XXVII: The 17th International Conference on Solid-State Sensors, Actuators and Microsystems (TRANSDUCERS & EUROSENSORS XXVII), pp. 1653–1658. IEEE (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Barber, A., Culmer, P., Boyle, J.H. (2015). Development and Characterisation of a Multi-material 3D Printed Torsion Spring. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_6
Download citation
DOI: https://doi.org/10.1007/978-3-319-22416-9_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22415-2
Online ISBN: 978-3-319-22416-9
eBook Packages: Computer ScienceComputer Science (R0)