A methodology for designing a parallel, passive-assist device to augment an active system using energy minimization based on a known maneuver is presented. Implementation of the passive-assist device can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring. Here we show that the concept can effectively be applied to more complicated machines performing known periodic motions by simulating a 3-link manipulator arm. The arm can be decoupled prior to optimization using inverse dynamics — greatly simplifying the optimization problem. The addition of optimized springs results in a system-wide decrease in energy consumption of 70.9%. Finally, we consider a distribution of possible maneuvers and use the concepts of robust design to find springs that increase the guaranteed energy savings at a 90% confidence level.
- Dynamic Systems and Control Division
Robust Maneuver Based Design of Passive-Assist Devices for Augmenting Robotic Manipulator Joints
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Brown, WR, & Ulsoy, AG. "Robust Maneuver Based Design of Passive-Assist Devices for Augmenting Robotic Manipulator Joints." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems. Palo Alto, California, USA. October 21–23, 2013. V001T09A002. ASME. https://doi.org/10.1115/DSCC2013-3819
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