A novel spring mechanism to reduce energy consumption of robotic arms

Plooij, Michiel; Wisse, Martijn

doi:10.1109/iros.2012.6385488

Cited by 52 publications

(42 citation statements)

References 8 publications

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“…Fig. 1 shows a picture of the experimental two DOF robotic arm [18]. The arm consists of two 18 × 1.5 mm stainless steel tubes, connected with two revolute joints, with a spring on the first joint.…”

Section: Methodsmentioning

confidence: 99%

Learning robustly stable open-loop motions for robotic manipulation

Wolfslag

Plooij

Babuška

et al. 2015

Robotics and Autonomous Systems

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Section: Methodsmentioning

confidence: 99%

Learning robustly stable open-loop motions for robotic manipulation

Wolfslag

Plooij

Babuška

et al. 2015

Robotics and Autonomous Systems

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“…The CEA type in Fig. 3f is used to reduce the energy consumption in robots, specifically robotic arms [43,44]. The CEA type in Fig.…”

Section: F Other Designsmentioning

confidence: 99%

Clutched Elastic Actuators

Plooij

Wolfslag

Wisse

2017

IEEE/ASME Trans. Mechatron.

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Abstract-This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots and robotic arms have shown the ability to reduce the energy consumption and motor requirements such as peak torque and peak power. Because of those abilities, they are increasingly used in robotics. In this paper, we categorize existing CEA designs, identify trends in those designs and provide a method to analyze their functionality. Based on a literature survey, current CEA designs are placed in nine categories, depending on their morphology. The main trend is that CEA designs are becoming more complex, meaning that the number of clutches and springs increases. We show with the introduced mathematical analysis that the functionality can be analyzed with a constraint matrix, a stiffness matrix and multiplication of a clutch dependent diagonal matrix with an oriented incidence matrix. This method eases the analysis of the functionality of CEAs. Furthermore, it can lead to new CEA designs in which the number of resulting stiffnesses grows exponentially with the number of springs and clutches.

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“…Recently, Endo et al developed a gravity compensation mechanism with a non-circular pulley and a spring. [4][5][6] Khoukhi et al studied the constrained multi-objective trajectory planning of a parallel mechanism by considering the actuator dynamics to improve energy efficiency.…”

Section: Introductionmentioning

confidence: 99%

Energy-saving method of parallel mechanism by redundant actuation

Lee

Sul

Kim

2015

Int. J. of Precis. Eng. and Manuf.-Green Tech.

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This paper presents a novel energy-saving method of a robotic system utilizing parallel mechanism by redundant actuation. The redundantly actuated system can distribute arbitrary actuating torques in a certain combination. By using this feature, the regenerative power dissipation and electric power loss are reduced. Moreover, the redundant actuation can reduce the peak torque of actuating joints. This feature reduces the friction loss because we can use a smaller gear reducer. A parallel manipulator with two degrees of freedom is simulated as a case study. The energy consumption of the robotic system is modeled by analyzing the type of energy consumption in actuation systems. An optimization process is proposed to maximize the energy-saving effect. The results show that 26.1% of electric energy can be saved by redundant actuation.

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A novel spring mechanism to reduce energy consumption of robotic arms

Cited by 52 publications

References 8 publications

Learning robustly stable open-loop motions for robotic manipulation

Learning robustly stable open-loop motions for robotic manipulation

Clutched Elastic Actuators

Energy-saving method of parallel mechanism by redundant actuation

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