This paper describes a novel, general methodology for designing a parallel, passive-assist device to augment an active system using optimization based on a known maneuver of the active system. Implementation of the passive-assist device can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. The methodology is demonstrated with a torsional spring designed to minimize energy consumption of a prototypical unmanned ground vehicle robot arm. Initial results indicate that this procedure can reduce maximum required torque by and energy consumed by as much as 25%. The proposed method is experimentally verified and compared to other state-of-the-art design approaches.
A Maneuver Based Design of a Passive-Assist Device for Augmenting Active Joints
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 31, 2012; final manuscript received February 21, 2013; published online June 10, 2013. Assoc. Editor: Andrew P. Murray.
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Robert Brown, W., and Galip Ulsoy, A. (June 24, 2013). "A Maneuver Based Design of a Passive-Assist Device for Augmenting Active Joints." ASME. J. Mechanisms Robotics. August 2013; 5(3): 031003. https://doi.org/10.1115/1.4024237
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