Profile Design of Parallel Rotary Compliance for Energy Efficiency in Cyclic Tasks
Profile Design of Parallel Rotary Compliance for Energy Efficiency in Cyclic Tasks
复制标题
平行旋转顺应性轮廓设计，以提高循环任务中的能源效率
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
M. N. Ahmadabadi
中科院分区：
文献类型：
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作者：
M. A. Shahri;O. Mohseni;H. J. Bidgoly;M. N. Ahmadabadi
与致动器并联安装的柔性元件可能有助于腿式机器人的能源效率。然而，找到最合适的顺应性曲线，特别是在合理的运动速度范围内，仍然是一个开放的话题。这篇文章有助于文学的三个理由。首先，它提出了最优性条件的并行符合能源效率。其次，它引入了一类平行的顺应性，称为旋转顺应性，因为往复运动中的能量回收是通过顺应性元件的连续旋转来完成的。与往复式顺应性相比，旋转顺应性具有在循环任务中产生更高能量效率的潜力。最后，提出了一种以能量和转矩最小为目标的旋转柔顺型线设计方法。在设计过程中还考虑了对某些任务频率变化的鲁棒性。在机器人腿上实现旋转顺应性的实验结果显示，在没有地面冲击的情况下，能量消耗改善高达49美元，在跑步机上的运行测试中，能量消耗改善高达22美元。此外，调查的速度变化对效率的遵守揭示了一个可接受的鲁棒性水平的建议的设计。
Compliant elements, installed in parallel with actuators, potentially contribute to the energy efficiency of legged robots. Nevertheless, finding the most appropriate compliance profile, especially over a reasonable range of locomotion speeds, is still an open topic. This article contributes to the literature on three grounds. First, it proposes optimality conditions for parallel compliance in terms of energy efficiency. Second, it introduces a class of parallel compliance termed as rotary compliance, in that recycling energy in reciprocal motions is done through continuous rotation of a compliant element. Rotary compliances have the potential to result in higher energy efficiency in cyclic tasks in comparison to reciprocating compliances. Finally, it presents a rotary compliance profile design method for energy and torque minimization. Robustness against some task frequency variations is also considered in the design process. Experimental results on implementing the rotary compliance on a robotic leg show up to $49\%$ energy consumption improvement in absence of ground impact and up to $22\%$ in running tests on a treadmill. Moreover, investigation of the effects of velocity variations on the efficiency of the compliance reveals an acceptable robustness level for the proposed design.