Design and characterization of a low-cost and efficient torsional spring for ES-RSEA

The design of torsional springs for series elastic actuators (SEAs) is challenging, especially when balancing good stiffness characteristics and efficient torque robustness. This study focuses on the design of a lightweight, low-cost, and compact torsional spring for use in the energy storage-rotary...

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Main Authors: Al-Dahiree, Omar Sabah, Ghazilla, Raja Ariffin Raja, Tokhi, Mohammad Osman, Yap, Hwa Jen, Gul, Mustabshirha
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Published: MDPI 2023
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Online Access:http://eprints.um.edu.my/38323/
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spelling my.um.eprints.383232023-11-23T08:07:03Z http://eprints.um.edu.my/38323/ Design and characterization of a low-cost and efficient torsional spring for ES-RSEA Al-Dahiree, Omar Sabah Ghazilla, Raja Ariffin Raja Tokhi, Mohammad Osman Yap, Hwa Jen Gul, Mustabshirha QD Chemistry TK Electrical engineering. Electronics Nuclear engineering The design of torsional springs for series elastic actuators (SEAs) is challenging, especially when balancing good stiffness characteristics and efficient torque robustness. This study focuses on the design of a lightweight, low-cost, and compact torsional spring for use in the energy storage-rotary series elastic actuator (ES-RSEA) of a lumbar support exoskeleton. The exoskeleton is used as an assistive device to prevent lower back injuries. The torsion spring was designed following design for manufacturability (DFM) principles, focusing on minimal space and weight. The design process involved determining the potential topology and optimizing the selected topology parameters through the finite element method (FEM) to reduce equivalent stress. The prototype was made using a waterjet cutting process with a low-cost material (AISI-4140-alloy) and tested using a custom-made test rig. The results showed that the torsion spring had a linear torque-displacement relationship with 99% linearity, and the deviation between FEM simulation and experimental measurements was less than 2%. The torsion spring has a maximum torque capacity of 45.7 Nm and a 440 Nm/rad stiffness. The proposed torsion spring is a promising option for lumbar support exoskeletons and similar applications requiring low stiffness, low weight-to-torque ratio, and cost-effectiveness. MDPI 2023-04 Article PeerReviewed Al-Dahiree, Omar Sabah and Ghazilla, Raja Ariffin Raja and Tokhi, Mohammad Osman and Yap, Hwa Jen and Gul, Mustabshirha (2023) Design and characterization of a low-cost and efficient torsional spring for ES-RSEA. Sensors, 23 (7). ISSN 1424-8220, DOI https://doi.org/10.3390/s23073705 <https://doi.org/10.3390/s23073705>. 10.3390/s23073705
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic QD Chemistry
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle QD Chemistry
TK Electrical engineering. Electronics Nuclear engineering
Al-Dahiree, Omar Sabah
Ghazilla, Raja Ariffin Raja
Tokhi, Mohammad Osman
Yap, Hwa Jen
Gul, Mustabshirha
Design and characterization of a low-cost and efficient torsional spring for ES-RSEA
description The design of torsional springs for series elastic actuators (SEAs) is challenging, especially when balancing good stiffness characteristics and efficient torque robustness. This study focuses on the design of a lightweight, low-cost, and compact torsional spring for use in the energy storage-rotary series elastic actuator (ES-RSEA) of a lumbar support exoskeleton. The exoskeleton is used as an assistive device to prevent lower back injuries. The torsion spring was designed following design for manufacturability (DFM) principles, focusing on minimal space and weight. The design process involved determining the potential topology and optimizing the selected topology parameters through the finite element method (FEM) to reduce equivalent stress. The prototype was made using a waterjet cutting process with a low-cost material (AISI-4140-alloy) and tested using a custom-made test rig. The results showed that the torsion spring had a linear torque-displacement relationship with 99% linearity, and the deviation between FEM simulation and experimental measurements was less than 2%. The torsion spring has a maximum torque capacity of 45.7 Nm and a 440 Nm/rad stiffness. The proposed torsion spring is a promising option for lumbar support exoskeletons and similar applications requiring low stiffness, low weight-to-torque ratio, and cost-effectiveness.
format Article
author Al-Dahiree, Omar Sabah
Ghazilla, Raja Ariffin Raja
Tokhi, Mohammad Osman
Yap, Hwa Jen
Gul, Mustabshirha
author_facet Al-Dahiree, Omar Sabah
Ghazilla, Raja Ariffin Raja
Tokhi, Mohammad Osman
Yap, Hwa Jen
Gul, Mustabshirha
author_sort Al-Dahiree, Omar Sabah
title Design and characterization of a low-cost and efficient torsional spring for ES-RSEA
title_short Design and characterization of a low-cost and efficient torsional spring for ES-RSEA
title_full Design and characterization of a low-cost and efficient torsional spring for ES-RSEA
title_fullStr Design and characterization of a low-cost and efficient torsional spring for ES-RSEA
title_full_unstemmed Design and characterization of a low-cost and efficient torsional spring for ES-RSEA
title_sort design and characterization of a low-cost and efficient torsional spring for es-rsea
publisher MDPI
publishDate 2023
url http://eprints.um.edu.my/38323/
_version_ 1783876662120677376
score 13.209306