Energy saving manipulator by regenerating conservative energy
Energy saving manipulator by regenerating conservative energy
复制标题
通过再生保守能量实现节能机械手
DOI：
10.1109/amc.2000.862954
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
T. Izumi
中科院分区：
文献类型：
--
作者：
T. Izumi
描述了垂直铰接机械手PTP运动中能量耗散的最小化问题。为了节约耗散的能量，首先要高效地再生动能、势能等保守能量。采用静电冷凝器储存能量，实现快速高效充放电。节能的第二个问题是寻找一条最优路径和操作时间，使垂直铰接机械手PTP运动中的能量消耗最小。粗略估计一条全局最优路径，以便较重的链条加速朝向引力方向，减速朝向反引力方向。该路径被用作求解一个非线性两点边值问题的迭代方法的起始函数。仿真结果表明，在选择最优工作时间时，提出的最优路径比传统路径的能量消耗降低了1/14/spl/1/30。
Describes the minimization of the dissipated energy in PTP motions of a vertically articulated manipulator. In order to save the dissipated energy, it is first necessary to regenerate the conservative energy, such as kinetic and potential energy, with high efficiency. An electrostatic condenser is used to store the conservative energy so that a rapid charge and discharge can be realized with high efficiency. The second problem for saving energy is to find an optimal path and an operating time which minimize the dissipated energy in PTP motions of a vertically articulated manipulator. A globally optimal path is roughly estimated so that the heavier link is accelerated toward gravitational direction and decelerated toward anti-gravitation. This proposed path is used as a starting function of the iteration method solving a non-linear two-point boundary-value problem. The simulation results show that a proposed optimal path can reduce the dissipated energy to 1/14/spl sim/1/30 compared with conventional path when the operating time is selected so as to be optimal.