Energy efficiency in a 4-dof parallel robot featuring compliant elements

© Levrotto and Bella. All rights reserved. Energy efficiency is a relevant and challenging topic in the robotic and mechatronic fields. One approach that is investigated to reduce the actuator effort, especially when cyclical and highspeed operations are considered, is the introduction of compliant...

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Main Authors: Lorenzo Scalera, Giovanni Carabin, Renato Vidoni, Theeraphong Wongratanaphisan
Format: Journal
Published: 2020
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http://cmuir.cmu.ac.th/jspui/handle/6653943832/67832
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Institution: Chiang Mai University
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spelling th-cmuir.6653943832-678322020-04-02T15:06:20Z Energy efficiency in a 4-dof parallel robot featuring compliant elements Lorenzo Scalera Giovanni Carabin Renato Vidoni Theeraphong Wongratanaphisan Engineering © Levrotto and Bella. All rights reserved. Energy efficiency is a relevant and challenging topic in the robotic and mechatronic fields. One approach that is investigated to reduce the actuator effort, especially when cyclical and highspeed operations are considered, is the introduction of compliant elements in parallel with the motor shafts. During the robot motion these elements allow for a continuous conversion between elastic potential energy and kinetic one, leading to motor effort reduction. In this paper we present a method for the optimal design of elastic elements, and its application to a 4-DOF parallel robot (4-RUU) performing predefined pick-and-place trajectories. The kinematic and dynamic models of the mechanical system are developed and several scenarios for the springs stiffness and preload are evaluated. Simulation results indicate the feasibility of the proposed approach in reducing the actuators effort and achieving energy efficiency. 2020-04-02T15:06:20Z 2020-04-02T15:06:20Z 2019-01-01 Journal 15908844 2-s2.0-85076293842 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85076293842&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/67832
institution Chiang Mai University
building Chiang Mai University Library
country Thailand
collection CMU Intellectual Repository
topic Engineering
spellingShingle Engineering
Lorenzo Scalera
Giovanni Carabin
Renato Vidoni
Theeraphong Wongratanaphisan
Energy efficiency in a 4-dof parallel robot featuring compliant elements
description © Levrotto and Bella. All rights reserved. Energy efficiency is a relevant and challenging topic in the robotic and mechatronic fields. One approach that is investigated to reduce the actuator effort, especially when cyclical and highspeed operations are considered, is the introduction of compliant elements in parallel with the motor shafts. During the robot motion these elements allow for a continuous conversion between elastic potential energy and kinetic one, leading to motor effort reduction. In this paper we present a method for the optimal design of elastic elements, and its application to a 4-DOF parallel robot (4-RUU) performing predefined pick-and-place trajectories. The kinematic and dynamic models of the mechanical system are developed and several scenarios for the springs stiffness and preload are evaluated. Simulation results indicate the feasibility of the proposed approach in reducing the actuators effort and achieving energy efficiency.
format Journal
author Lorenzo Scalera
Giovanni Carabin
Renato Vidoni
Theeraphong Wongratanaphisan
author_facet Lorenzo Scalera
Giovanni Carabin
Renato Vidoni
Theeraphong Wongratanaphisan
author_sort Lorenzo Scalera
title Energy efficiency in a 4-dof parallel robot featuring compliant elements
title_short Energy efficiency in a 4-dof parallel robot featuring compliant elements
title_full Energy efficiency in a 4-dof parallel robot featuring compliant elements
title_fullStr Energy efficiency in a 4-dof parallel robot featuring compliant elements
title_full_unstemmed Energy efficiency in a 4-dof parallel robot featuring compliant elements
title_sort energy efficiency in a 4-dof parallel robot featuring compliant elements
publishDate 2020
url https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85076293842&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/67832
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