A Methodology for Designing a Lightweight and Energy-Efficient Kinematically Redundant Actuator

Abstract

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.

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

“…In contrast, the dual motor actuator (DMA), depicted in Fig. 1, is a kinematically redundant actuator that has been explored in [21] and [23] extensively. This DMA comprises two motors, a differential, and an auxiliary gear set.…”

“…Kinematically redundant actuators offer the potential to reduce energy consumption or provide a wider operating range than common actuators as discussed in detail in [21], and [22]. Additionally, we proposed a design methodology and selection of its components of the shelve to have a light and energy-efficient solution in [23]. In [24], researchers have demonstrated that the inertia of the actuator in certain working conditions is lower than the inertia of both drivetrains individuals.…”