A passive-assist design approach for improved reliability and efficiency of robot arms

Brown, Willis E.; Ulsoy, A. Galip

doi:10.1109/icra.2011.5979964

Cited by 7 publications

(3 citation statements)

References 15 publications

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“…This is recognized in Roos et al [14], where the authors present a motor-gearbox selection method that includes inertias and a DC motor model. Other evidence of the importance of DC motor models can be found in Brown and Ulsoy [12]. In an optimization on a robot arm, the authors claim that 2/3 of the energy savings they accomplished could be attributed to a more efficient use of the motor.…”

Section: Introductionmentioning

confidence: 95%

“…Some authors also consider electrical power consumption by introducing a DC motor efficiency model. Typically, the model includes resistive losses [9,10] and sometimes losses proportional to motor speed [11,12]. In those papers which utilize a DC motor model, inertia of the motor is usually included, but gearbox inertia is rarely taken into account [9].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and design of geared DC motors for energy efficiency: Comparison between theory and experiments

et al. 2015

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a b s t r a c tEnergy efficiency is a growing concern in today's mechatronic designs. In recent years, many works have emerged presenting energy-efficient actuators with electrical motors. However, there is little consistency in the way energy consumption is calculated. Drive inertia, motor efficiency and controller efficiency are often neglected in optimizations, and so are the load-and speed-dependency of the losses and other non-linearities. While this approach works well in stationary circumstances, it can lead to significant errors in highly dynamic tasks with a wide range of operation, such as the ones faced by actuators in the field of robotics. This paper discusses the losses occurring in an actuator consisting of a DC motor and gearbox as it is forcing a swinging motion on a pendulum. From this simple case study, some general recommendations on the modeling of energy losses are formulated. Combining data from manufacturer's datasheets with empirical data, the approach presented in this paper was able to predict the energy consumption for this specific case with an error of less than 10%.

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Section: Introductionmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Modeling and design of geared DC motors for energy efficiency: Comparison between theory and experiments

et al. 2015

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“…On the other hand, passive methods, based in springs and other mechanisms have been proposed [4], [5]. In [6], an optimization formulation for the design of weight compensators given certain tasks is presented. Following this idea, this paper proposes a passive weight compensation method, applied to a specific case of study.…”

Section: Introductionmentioning

confidence: 99%

Design of Passive Weight Compensation for a Robotic Manipulator

Uriza

Rodríguez

2015

AMM

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A serial link manipulator consist of various unbalanced bars (links) attached by torsional joints that are subjected to torque loads due to the weight and configuration of the manipulator. This paper proposes a solution to passive weight compensation for serial link manipulators, using torsional springs. A set of characteristic points is selected and evaluated through sensibility analysis to define the required maneuvers. A nonlinear optimization methodology is used to find the springs parameters to minimize the energy consumption during the execution of the defined maneuvers. The energy saving is estimated through simulation as well as the effect of the maximum preload allowed for the spring.

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Maneuver based design of a passive-assist device for augmenting linear motion drives

Brown

Ulsoy

2013

2013 American Control Conference

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A methodology for designing a parallel, passiveassist device to augment an active system using energy minimization based on a known maneuver is presented. Implementation of the passive-assist device can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring. Here we show that the concept can effectively be applied to other machines performing known periodic motions by simulating a reciprocating single axis machining table and an X-Y table performing a slot milling operation. The addition of optimized springs results in a decrease in energy consumption of 79% and significantly outperforms springs based on a state-of-the-art force-displacement curvefitting approach. Finally, we show that a significant increase in performance can be realized if the maneuver is redesigned considering that a passive-assist device will be added to the system.

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A passive-assist design approach for improved reliability and efficiency of robot arms

Cited by 7 publications

References 15 publications

Modeling and design of geared DC motors for energy efficiency: Comparison between theory and experiments

Modeling and design of geared DC motors for energy efficiency: Comparison between theory and experiments

Design of Passive Weight Compensation for a Robotic Manipulator

Maneuver based design of a passive-assist device for augmenting linear motion drives

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