Design of lead screw actuators for wearable robotic applications

Kevin W. Hollander, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A wearable robot is a controlled and actuated device that is in direct contact with its user. As such, the implied requirements of this device are that it must be portable, lightweight and most importantly safe. To achieve these goals an actuator with a good 'power to weight' ratio, good mechanical efficiency, good 'strength to weight' ratio and that is safe is desired. The design of the standard lead screw does not normally perform well in any of these categories. The typical lead screw has low pitch angles and large radii, thereby yielding low mechanical efficiencies and high weight. However, using the design procedure outlined in this text both efficiency and weight are improved, thus yielding a lead screw system with performances that rival human muscle. The result of an example problem reveals a feasible lead screw design that has a 'power to weight' ratio of 277W/kg, approaching that of the DC motor driving it, at 312W/kg, as well as a mechanical efficiency of 0.74, and a maximum 'strength to weight' ratio of 11.3kN/kg(1154kgf/kg).

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005
Subtitle of host publication29th Mechanisms and Robotics Conference
Pages237-246
Number of pages10
StatePublished - Dec 1 2005
EventDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
Duration: Sep 24 2005Sep 28 2005

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
Volume7 A

Other

OtherDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityLong Beach, CA
Period9/24/059/28/05

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Hollander, K. W., & Sugar, T. (2005). Design of lead screw actuators for wearable robotic applications. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005: 29th Mechanisms and Robotics Conference (pp. 237-246). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005; Vol. 7 A).