Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach
| Autor: | Francesco Lasagni, Ferdinando Cannella, Jinoh Lee, Paolo Guardiani, Darwin G. Caldwell, Daniele Ludovico |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization business.product_category Computer science Biomedical Engineering Mechanism design Gravity compensation methods and tools for robot system design 02 engineering and technology Pulley Computer Science::Robotics 020901 industrial engineering & automation Analyse und Regelung komplexer Robotersysteme Artificial Intelligence Control theory Torque Mechanical Engineering Work (physics) 021001 nanoscience & nanotechnology Computer Science Applications Power (physics) Human-Computer Interaction Mechanism (engineering) Control and Systems Engineering Robot Computer Vision and Pattern Recognition 0210 nano-technology business Actuator Generator (mathematics) |
| Popis: | Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may offer a valid solution. Avoiding the need for actuators to balance gravity torques helps decrease the power consumption and the size of the actuators. Furthermore, a passive gravity compensation mechanism allows the robot to hold a static position without the need for an external power source, hence avoiding the risk of collapsing in case of failure of the actuators. This work focuses on designing a torque generator composed of a non-circular pulley and a spring, which, by solving a convex optimisation problem, offers a new methodology for creating any generic torque and thereby also succeeds in solving gravity compensation problems. This methodology guarantees the outcome of feasible non-circular pulleys which minimise the torque required to perform any specific task. |
| Databáze: | OpenAIRE |
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