Standard modular actuator test and characterization

Abstract

Describes a state-of-the-art modular actuator and its advantages over conventional actuators, and presents the testing of the actuator using a testbed devised for the testing of next-generation robot actuators. Intelligent actuators are the fundamental units of open-architecture reconfigurable machines. Actuators for robotic application are highly complex nonlinear devices, with numerous parameters and conditions to be considered. In order to obtain the maximum performance from these machines, it is necessary to obtain all parameters, creating specifications and characterizing the actuator systems using highly advanced measurement equipment. The acquired lessons learned from a broad-based testing and evaluation effort can accelerate the development of actuator technology. Recent research activities for developing modular actuators with a comparison of conventional and recent actuator technologies are introduced. Performance testing of actuators is explained, together with their purposes and measurement parameters. The hardware and software environment of a testbed which is used for testing various parameters is then described. Test results are summarized characterizing the performance of the actuator.