NDLI: A novel spring mechanism to reduce energy consumption of robotic arms

Content Provider	IEEE Xplore Digital Library
Author	Plooij, M. Wisse, M.
Copyright Year	2012
Description	Author affiliation: Delft Univ. of Tech., The Netherlands (Plooij, M.; Wisse, M.)
Abstract	Most conventional robotic arms use motors to accelerate the manipulator. This leads to an unnecessary high energy consumption when performing repetitive tasks. This paper presents an approach to reduce energy consumption in robotic arms by performing its repetitive tasks with the help of a parallel spring mechanism. A special non-linear spring characteristic has been achieved by attaching a spring to two connected pulleys. This parallel spring mechanism provides for the accelerations of the manipulator without compromising its ability to vary the task parameters (the time per stroke, the displacement per stroke the grasping time and the payload). The energy consumption of the arm with the spring mechanism is compared to that of the same arm without the spring mechanism. Optimal control studies show that the robotic arm uses 22% less energy due to the spring mechanism. On the 2 DOF prototype, we achieved an energy reduction of 20%. The difference was due to model simplifications. With a spring mechanism, there is an extra energetic cost, because potential energy has to be stored into the spring during startup. This cost is equal to the total energy savings of the 2 DOF arm during 8 strokes. Next, there could have been an energetic cost to position the manipulator outside the equilibrium position. We have designed the spring mechanism in such a way that this holding cost is negligible for a range of start- and end positions. The performed experiments showed that the implementation of the proposed spring mechanism results in a reduction of the energy consumption while the arm is still able to handle varying task parameters.
Starting Page	2901
Ending Page	2908
File Size	233756
Page Count	8
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385488
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Torque Optimal control Potential energy Energy consumption Manipulators
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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