BIOROBOTIC ACTUATOR SELECTION SPACE MAPPING

Hanna, P; Carmichael, M; Clemon, L

BIOROBOTIC ACTUATOR SELECTION SPACE MAPPING

Hanna, P Carmichael, M

Clemon, L

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Publisher:: ASME International
Publication Type:: Conference Proceeding
Citation:: ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2024, 1
Issue Date:: 2024-01-01

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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	2024-11-17
dc.date.accessioned	2025-03-30T23:58:05Z
dc.date.available	2025-03-30T23:58:05Z
dc.date.issued	2024-01-01
dc.identifier.citation	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2024, 1
dc.identifier.uri	http://hdl.handle.net/10453/186326
dc.description.abstract	Actuator selection is critical in the design of human compatible robotics, such as prosthetics, exoskeletons, and humanoids. Each has its own set of parameters, from output specifications to package sizing and applicable environmental conditions. A multitude of design factors must be considered in selection, some are dictated by performance relations, while other engineering decisions are latent and unobserved. In biorobotic design, weight is often a key trade-off parameter with actuator performance. We analyze a database of over 1900 motors that are of relevant size for biorobotic designs to identify underlying trends that affect selection options. Selected motors range from 0.000013Nm to 3.66Nm in torque and 0.0016kg to 5.67kg in weight. We then generate Ashby-style charts to evaluate trends across motor selection dimensions. We find a wide disparity between manufacturers and where their actuators are specialized. The results provide a means for rapidly narrowing the selection space for designers, which is shown through an example application and reduces design time and improves the actuator selection.
dc.language	en
dc.publisher	ASME International
dc.relation.ispartof	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
dc.relation.ispartof	Volume 1: Acoustics, Vibration, and Phononics; Advanced Design and Information Technologies
dc.relation.isbasedon	10.1115/IMECE2024-145828
dc.rights	info:eu-repo/semantics/openAccess
dc.title	BIOROBOTIC ACTUATOR SELECTION SPACE MAPPING
dc.type	Conference Proceeding
utslib.citation.volume	1
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/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Robotics Institute (RI)
pubs.organisational-group	University of Technology Sydney/UTS Groups/Centre for Advanced Manufacturing (CAM)
pubs.organisational-group	University of Technology Sydney/UTS Groups/Centre for Advanced Manufacturing (CAM)/Centre for Advanced Manufacturing (CAM) Associate Members
utslib.copyright.status	open_access	*
dc.rights.license	This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by/4.0/
dc.date.updated	2025-03-30T23:58:03Z
pubs.finish-date	2024-11-21
pubs.publication-status	Published
pubs.start-date	2024-11-17
pubs.volume	1

Abstract:

Actuator selection is critical in the design of human compatible robotics, such as prosthetics, exoskeletons, and humanoids. Each has its own set of parameters, from output specifications to package sizing and applicable environmental conditions. A multitude of design factors must be considered in selection, some are dictated by performance relations, while other engineering decisions are latent and unobserved. In biorobotic design, weight is often a key trade-off parameter with actuator performance. We analyze a database of over 1900 motors that are of relevant size for biorobotic designs to identify underlying trends that affect selection options. Selected motors range from 0.000013Nm to 3.66Nm in torque and 0.0016kg to 5.67kg in weight. We then generate Ashby-style charts to evaluate trends across motor selection dimensions. We find a wide disparity between manufacturers and where their actuators are specialized. The results provide a means for rapidly narrowing the selection space for designers, which is shown through an example application and reduces design time and improves the actuator selection.

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http://hdl.handle.net/10453/186326