A Passive-Assist Design Approach for Improved Reliability and Efficiency of Robot Arms
The purpose of this paper is to examine a passive-assist design approach for improving the performance of robot arms and unmanned ground vehicles (UGVs) with respect to reliability, utility, and efficiency. Specifically, a procedure that alters the mechanical design of a robot arm to incorporate springs optimized to reduce the maximum motor torque, or energy, required to perform a specified maneuver is proposed. By reducing the maximum motor torque required, the reliability and utility of the motors (and by extension the entire UGV) are increased. Our joint model includes both a non-backdrivable worm gear and a static DC motor. Initial results for a one link arm indicate that this procedure can reduce maximum required torque by 50.9％ and energy consumed by 8.5％.
W. Robert Brown A. Galip Ulsoy
Department of Mechanical Engineering,University of Michigan,Ann Arbor,MI,48109,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4927-4934
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）