Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms
| Autor: | A. Galip Ulsoy, W. Robert Brown |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Control and Optimization Computer science Mobile manipulator General Mathematics Mechanical Engineering Reliability (computer networking) 05 social sciences Control engineering Mobile robot 02 engineering and technology Energy consumption Energy minimization Computer Science Applications Dual (category theory) Robust design 020901 industrial engineering & automation Control and Systems Engineering Modeling and Simulation 0502 economics and business Curve fitting Software Simulation |
| Zdroj: | Robotica. 35:2238-2255 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574716000850 |
| Popis: | SUMMARYA comparison of series, parallel, and dual Passive Assist Devices(PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. We introduce a new initial design using a weighted force displacement curve fit. A robust design approach for a family of maneuvers is developed and presented. Applications to a 3-link manipulator arm show that PADs could reduce energy consumption between 60% and 80%. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|