A novel spring mechanism to reduce energy consumption of robotic arms
A novel spring mechanism to reduce energy consumption of robotic arms
复制标题
一种减少机械臂能耗的新型弹簧机构
DOI：
10.1109/iros.2012.6385488
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
M. Wisse
中科院分区：
文献类型：
--
作者：
M. Plooij;M. Wisse
大多数传统机械臂使用电机来加速机械手。这会导致执行重复任务时不必要的高能耗。本文提出了一种通过借助平行弹簧机构执行重复任务来减少机械臂能耗的方法。通过将弹簧连接到两个相连的滑轮上，可以实现特殊的非线性弹簧特性。这种平行弹簧机构提供机械手的加速度，而不影响其改变任务参数的能力（每个冲程的时间、每个冲程的位移、抓取时间和有效负载）。将具有弹簧机构的手臂的能量消耗与不具有弹簧机构的相同手臂的能量消耗进行比较。最佳控制研究表明，由于弹簧机制，机械臂使用的能量减少了 22%。在 2 DOF 原型上，我们实现了 20% 的能量降低。差异是由于模型简化造成的。对于弹簧机构，会产生额外的能量成本，因为在启动过程中必须将势能存储到弹簧中。此成本等于 2 DOF 手臂在 8 次冲程期间节省的总能量。其次，将操纵器定位在平衡位置之外可能会产生能量成本。我们设计弹簧机构的方式是，对于一系列起始位置和结束位置，这种保持成本可以忽略不计。进行的实验表明，所提出的弹簧机构的实施可以减少能量消耗，同时手臂仍然能够处理不同的任务参数。
Most conventional robotic arms use motors to accelerate the manipulator. This leads to an unnecessary high energy consumption when performing repetitive tasks. This paper presents an approach to reduce energy consumption in robotic arms by performing its repetitive tasks with the help of a parallel spring mechanism. A special non-linear spring characteristic has been achieved by attaching a spring to two connected pulleys. This parallel spring mechanism provides for the accelerations of the manipulator without compromising its ability to vary the task parameters (the time per stroke, the displacement per stroke the grasping time and the payload). The energy consumption of the arm with the spring mechanism is compared to that of the same arm without the spring mechanism. Optimal control studies show that the robotic arm uses 22% less energy due to the spring mechanism. On the 2 DOF prototype, we achieved an energy reduction of 20%. The difference was due to model simplifications. With a spring mechanism, there is an extra energetic cost, because potential energy has to be stored into the spring during startup. This cost is equal to the total energy savings of the 2 DOF arm during 8 strokes. Next, there could have been an energetic cost to position the manipulator outside the equilibrium position. We have designed the spring mechanism in such a way that this holding cost is negligible for a range of start- and end positions. The performed experiments showed that the implementation of the proposed spring mechanism results in a reduction of the energy consumption while the arm is still able to handle varying task parameters.