A comparison of serial, parallel, and dual Passive Assist Devices (PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or safety. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring in parallel. Here we show that the concept can extended to serial and dual systems as well. To make the optimization converge more quickly we introduce a new initial design using a weighted force displacement curve fit. We provide engineering insight into why different types of PADs perform differently depending on the maneuver and offer guidelines on how to select a specific type based on the application. Finally, we demonstrate this design process and selection procedure on a 3-link manipulator arm and show that a combination of parallel and dual PADs could reduce energy consumption by up to 78%.
- Dynamic Systems and Control Division
Maneuver Based Design of Passive-Assist Devices: A Comparison of Parallel and Serial Systems
- Views Icon Views
- Share Icon Share
- Search Site
Brown, WR, & Ulsoy, AG. "Maneuver Based Design of Passive-Assist Devices: A Comparison of Parallel and Serial Systems." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control. Palo Alto, California, USA. October 21–23, 2013. V003T38A003. ASME. https://doi.org/10.1115/DSCC2013-3818
Download citation file: