This paper experimentally validates the simulation model developed in previous work to improve the reliability and efficiency of robot arms via a passive-assist design approach. Specifically, this procedure alters the mechanical design of a robot arm by incorporating a parallel spring designed to reduce the peak motor torque and energy required to perform a specified maneuver. Our experiment consisted of a single link robot arm, worm gear transmission, DC motor, sensors, and a PC based controller. We experimentally demonstrated that our model is accurate to within 3% and that the addition of a well-designed spring can reduce peak motor torques by ∼50% and energy consumption by as much as 25%.
- Dynamic Systems and Control Division
Experimental Verification of a Passive-Assist Design Approach for Improved Reliability and Efficiency of Robot Arms
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Brown, WR, & Ulsoy, AG. "Experimental Verification of a Passive-Assist Design Approach for Improved Reliability and Efficiency of Robot Arms." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 113-122. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8798
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