| Autor: |
Amin Khorasani, Raphael Furnemont, Muhammad Usman, Thierry Hubert, Bram Vanderborght, Dirk Lefeber, Greet Van de Perre, Tom Verstraten |
| Přispěvatelé: |
Faculty of Engineering, Applied Mechanics, Rectorate |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
IEEE Robotics and Automation Letters. 7:10786-10793 |
| ISSN: |
2377-3774 |
| DOI: |
10.1109/lra.2022.3192637 |
| Popis: |
Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking into account the constraints, inertia, and efficiency of each component. Focusing on battery-operated robots as an application, it also considers battery pack mass in relation to the energy required by the actuator for multiple hours of operation. Based on this methodology, a prototype of a kinematically redundant actuator for the distal joint of a robot was built. Simulations and experiments are presented to prove the validity of the proposed approach. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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