A concept for a new Energy Efficient actuator

Abstract

In this paper a novel concept of embedded robotic actuator is presented which has been named the Very Versatile Energy Efficient (V2E2) actuator. This actuator stores energy during any force profile which generates negative work on the load and it does therefore have unprecedented potentials for robotics applications.

Port-Based Modeling and Optimal Control for a new Very Versatile Energy Efficient Actuator

“…As explained in Stramigioli et al (2008) and as previously remarked, the proposed actuator will operate in its clutched configuration in most practical operations, meaning that power losses are reduced, with respect to standard motors, simply by its mechanical design.…”

“…Note that, due to the system frictions, the energy conversion is not ideal and therefore, during the clutch phase, the spring energy tends to decrease. Since the spring should not be completely unloaded, see Stramigioli et al (2008) for details, in Fig. 3 jumps are added when the stored energy becomes lower of a band guard value, i.e.…”

“…1 have been proposed in Stramigioli et al (2008), where a novel actuator concept has been described. This innovative very versatile and energy efficient actuator (V2E2) is depicted in Fig.…”

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Abstract:In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue.

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Variable impedance actuators: Moving the robots of tomorrow

“…Within VIACTORS many actuators have been developed to explore their possibilities. In [7] an energy efficient actuator is achieved by a combination of an Infinite Variable Transmission and an elastic element. In AwAS [8], AwAS-II [9], vsaUT [10] and vsaUT-II [11] systems were developed where the adaptation of stiffness is achieved with little energy consumption.…”