Standard modular actuator test and characterization

This paper describes a state of the art modular actuator and its advantages over conventional actuators and presents the testing of the actuator using a test bed 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 and nonlinear devices with numerous parameters and conditions to be considered. In order to obtain 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 development of actuator technology. Recent research activities for developing modular actuators with the comparison of conventional and recent actuator technologies are introduced. Performance testing of actuators is explained with purposes and measurement parameters. The hardware and software environment of a test bed used for testing various parameters is then described. Test results are summarized characterizing the performance of the actuator.