Design for Saving Energy of a Vertically Articulated Manipulator Using Spring and Mass Balancers
Design for Saving Energy of a Vertically Articulated Manipulator Using Spring and Mass Balancers
复制标题
使用弹簧和质量平衡器的垂直铰接机械手的节能设计
DOI：
10.1299/kikaic.70.3456
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Izumi
中科院分区：
文献类型：
--
作者：
J. Amano;T. Izumi
本文讨论了三连杆垂直关节机械手平衡重和电机的优化设计方法，以节省机械手的能耗。弹簧平衡器和质量平衡器分别安装在第二和第三连杆上以补偿重力。通过最小化由电机和质量平衡器的惯性、电机的转矩常数和电枢电阻组成的最大特征值来进行机械手的优化设计。从起动电流等于最大峰值电流的方程出发，推导出了电动机起动所需的约束条件。设计了具有最优弹簧平衡器和质量平衡器的机械手系统，并与具有两个质量平衡器的机械手系统和不具有质量平衡器的机械手系统进行了比较。优化设计后的机械手总重量和耗能均显著降低。
This paper discusses a design method for optimal counterbalances and motors of a vertically articulated manipulator with 3 links in order to save the dissipated energy. A spring-balancer and a mass-balancer are mounted on the second and the third link respectively to make compensation for gravity force. The optimal design of the manipulator is performed by minimizing of the maximum eigenvalue consisted of the inertia of motors and a mass-balancer, the torque constants and the armature resistances of the motors. The constraint condition, which the motor should depend on, is derived from the equation that the starting current equals the maximum peak current. The manipulator system with the optimal spring-balancer and mass-balancer is designed and compared to one with two mass-balancers and one without balancers. The total weight and the dissipated energy of the optimally designed manipulator can be decreased remarkably.