AN ENERGY SAVING POWER ASSIST MANIPULATOR WITH MECHANICAL ELASTIC ELEMENTS

摘要：

In this paper, we presents a manipulator with elastic elements for energy saving. With this manipulator the energy needed for driving the manipulator to lift a certain load decreases, so that the smaller actuators can be chosen.This structure is much more suitable for manipulators used in industry and wearable robot for the aged and disabled people.At the same time, we can find the effection of the stiffness of the elastic elements and load mass on torque minimization.The concept we used here is try to store energy get from the actuators and gravity into the springs, and then this saved energy can be part of the driving power to lift load.

关键词： Energy saving elastic elements stiffness load mass

作者: LUPING LUO KYOOSIK SHIN CHANGSOO HAN

作者单位: Department of Mechanical Engineering Hanyang University Ansan,Korea

会议类型: 国际会议

会议名称: 3rd International Conference on Mechanical and Electrical Technology(ICMET2011) (2011第三届机械与电气技术国际会议)

会议地点: 大连

会议语种:英文

页码: 745-749

在线出版日期: 2011-08-26（万方平台首次上网日期，不代表论文的发表时间）