Solidworks model and system identification data of the Dynamic Robotic Actuator (Dyrac)

CAD model of the Dynamic Robotic Actuator (Dyrac). The Dyrac actuator was developed in the frame to reproduce human hammering motions in a teleoperation scenario. The design requirements were were a stiffness changing time of 50 ms, a peak output velocity of 20 rad/s, and variable damping.Performance measurements on the prototype showed an effective stiffness changing time of 50-120 ms for small to large stiffness steps, nominal output velocity of 16 rad/s, and a variable damper with a damping torque of 0-3 Nm.<br> Its effective stiffness range is 0.2-313 Nm/rad.<br>

本数据集包含动态机器人执行器（Dynamic Robotic Actuator，Dyrac）的计算机辅助设计（Computer-Aided Design，CAD）模型。Dyrac执行器为在遥操作场景下复现人类锤击动作而开发。其设计指标包括：刚度切换时长为50 ms，峰值输出角速度为20 rad/s，且支持可变阻尼特性。对该原型机的性能测试结果显示：针对小至大幅刚度阶跃，有效刚度切换时长为50~120 ms；额定输出角速度为16 rad/s；可变阻尼器的阻尼扭矩范围为0~3 N·m。其有效刚度范围为0.2~313 N·m/rad。