Session: 02-03-03: Optimization

Paper Number: 145828

145828 - Biorobotic Actuator Selection Space Mapping 

Actuators 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 others 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. Input motors range from 0.000013Nm to 3.66Nm in Torque and 0.0016kg to 5.67kg in Weight. Options are then mapped in using Ashby charts to highlight trends across motor selection dimensions. We find a wide disparity between manufactures and where their actuators are specialized for. The results provide a means for rapidly narrowing the selection space for designers and reduce design time and improve actuator selection.

Presenting Author: Pavlos Hanna University of Technology sydney

Presenting Author Biography: Pavlos Hanna is a PhD student at the University of Technology Sydney, looking into Actuator Design for use in prosthetics and exoskeletons.
Pavlos Hanna completed his Undergraduate degree with a Bachelor of Mecahnical and Mechatronics Engineering (1st class Honours) from the University of Technology Sydney in 2019.

Authors:

Pavlos Hanna University of Technology sydney
Marc Carmichael University of Technology Sydney
Lee Clemon University of Illinois