Natural Motion for Energy Saving in Robotic and Mechatronic Systems

Abstract

Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion.

Advances in Mechanical Systems Dynamics

“…In Reference [6], a classification and a discussion of several approaches that adopt the concept of natural motion to enhance the energetic performance in robotic and mechatronic systems is presented.…”

Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

“…The importance of this topic is testified by a flourishing literature, which includes both theoretical and experimental investigations on energy saving in automatic machines and robots [5]. Among the several strategies that can be followed to achieve the goal of enhancing the energetic performance of a manufacturing system, the main are: the proper choice of the robot architecture [6], the design of robots and machine with lightweight links and components [7][8][9][10], the substitution of traditional drives with regenerative ones [11][12][13], and the exploitation of the system natural dynamics [14][15][16]. Energy saving can also be achieved by optimizing the motion time and properly planning the trajectories that the machine will follow [17][18][19].…”

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

“…Yeo et al [20] proposed cable-driven manipulators with variable stiffness; Xu et al [21] proposed a cable-driven soft robot arm in the underwater environment; Liu et al [22] used the mechanism structure of the human arm for reference, proposed a cable-driven manipulator with a high-payload capacity, assembled physical prototype and tested the payload capacity. Besides, the spring is usually used in most of the variable stiffness designs [23][24][25]. Seriani et al [14] investigated the preloaded structures for impact mitigation used the fundamental preloaded element, a spring; However, Wu et al [26] proposed the linear variable-stiffness mechanisms used the preloaded element, a curved beam.…”