Springs play a critical role in robotics by storing and releasing mechanical energy, enabling essential tasks like throwing, lifting, and various forms of movement. However, traditional springs are limited by low mass-energy density due to their standardized designs, which impacts their efficiency. Optimizing spring design is crucial, especially in applications that require reducing mass, such as autonomous robots and exoskeletons. Our project addresses these limitations by increasing the mass-energy density through the geometric optimization of springs to create more efficient, lightweight, and powerful robotic systems.
The paper is under review at Robotics and Automation Letters*.
To evaluate the properties of the spring, we designed a closed-loop feedback control system to regulate a Brushless DC motor supplied by Allied Motion.
The creation of an automated process that converts MATLAB code into extruded components in SOLIDWORKS. Our goal is to realize a completely automatic design process by adjusting a few variables and streamlining the generation of designs for efficiency.
Utilize ANSYS for finite element analysis to examine the structure and employ topology optimization techniques for structural enhancement.
Rapid prototyping and testing. Utilize a Markforged Onyx printer to prototype the spring design.
Special thanks to Dr. David Braun for his invaluable support and mentorship during my time in the Robotics & Control Lab. To explore more cutting-edge robotics research, please visit his official website.
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