Development of an Organisational Framework for the Optimal and Efficient Selection of Actuators

Hanna, P; Carmichael, M; Clemon, L

Development of an Organisational Framework for the Optimal and Efficient Selection of Actuators

Hanna, P Carmichael, M

Clemon, L

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Publisher:: ASME
Publication Type:: Conference Proceeding
Citation:: ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2021, 5
Issue Date:: 2021-01-01

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Field	Value	Language
dc.contributor.author	Hanna, P
dc.contributor.author	Carmichael, M https://orcid.org/0000-0001-8439-0074
dc.contributor.author	Clemon, L https://orcid.org/0000-0003-3808-7749
dc.date	2021-11-01
dc.date.accessioned	2022-06-09T00:36:00Z
dc.date.available	2022-06-09T00:36:00Z
dc.date.issued	2021-01-01
dc.identifier.citation	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2021, 5
dc.identifier.isbn	9780791885598
dc.identifier.uri	http://hdl.handle.net/10453/158029
dc.description.abstract	Actuators are a vital component, and more often than not one of the limiting factors in robotics and robotics related applications. For the use of actuators in robotics related to humanoids, exoskeletons, prosthetics and orthoses, there are more factors that influence the selected actuator than the basic mechanical outputs, size, backlash, material and power consumption. The main interest within these applications is that because the device is being carried by the human user, thus weight, power consumption and form factor are important selection parameters. The correct selection of an actuator for these applications is a difficult and lengthy process to perform. This paper creates an organizational framework and database for searching the wide range of actuators. This dataset is organized into a design tool that plots the properties of each actuator on varying graphs creating trade-off Ashby charts to rapidly narrow the selection space for designers. A case study is performed to demonstrate the use of this design tool in humancentric actuation applications. The database is utilized in the selection of the ideal actuator based on lines of best fit and a multivariate regression analysis for the optimization of parameters about the required specifications. In addition, a meta-analysis identifies clusters of current actuators, gaps for new developments, and trends. This work provides research direction into developing specific actuators to fit into these trend gaps which offers substantial benefits to humanoids, exoskeletons, prosthetics and orthosis.
dc.language	en
dc.publisher	ASME
dc.relation.ispartof	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
dc.relation.ispartof	ASME 2021 International Mechanical Engineering Congress and Exposition
dc.relation.isbasedon	10.1115/IMECE2021-67744
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Development of an Organisational Framework for the Optimal and Efficient Selection of Actuators
dc.type	Conference Proceeding
utslib.citation.volume	5
utslib.location.activity	Virtual
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.consider-herdc	false
dc.date.updated	2022-06-09T00:35:58Z
pubs.finish-date	2021-11-05
pubs.place-of-publication	USA
pubs.publication-status	Published
pubs.start-date	2021-11-01
pubs.volume	5
dc.location	USA

Abstract:

Actuators are a vital component, and more often than not one of the limiting factors in robotics and robotics related applications. For the use of actuators in robotics related to humanoids, exoskeletons, prosthetics and orthoses, there are more factors that influence the selected actuator than the basic mechanical outputs, size, backlash, material and power consumption. The main interest within these applications is that because the device is being carried by the human user, thus weight, power consumption and form factor are important selection parameters. The correct selection of an actuator for these applications is a difficult and lengthy process to perform. This paper creates an organizational framework and database for searching the wide range of actuators. This dataset is organized into a design tool that plots the properties of each actuator on varying graphs creating trade-off Ashby charts to rapidly narrow the selection space for designers. A case study is performed to demonstrate the use of this design tool in humancentric actuation applications. The database is utilized in the selection of the ideal actuator based on lines of best fit and a multivariate regression analysis for the optimization of parameters about the required specifications. In addition, a meta-analysis identifies clusters of current actuators, gaps for new developments, and trends. This work provides research direction into developing specific actuators to fit into these trend gaps which offers substantial benefits to humanoids, exoskeletons, prosthetics and orthosis.

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http://hdl.handle.net/10453/158029