Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach

Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may o...

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Vydáno v:IEEE robotics and automation letters Ročník 6; číslo 2; s. 958 - 965
Hlavní autoři: Ludovico, Daniele, Guardiani, Paolo, Lasagni, Francesco, Lee, Jinoh, Cannella, Ferdinando, Caldwell, Darwin G.
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.04.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Actuators
Compensation
Gravitation
Gravity
Industrial robots
Inspection
Mechanism design
methods and tools for robot system design
Optimization
Power consumption
Pulleys
Robots
Service robots
Springs
Torque
ISSN:2377-3766, 2377-3766
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Shrnutí:Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may offer a valid solution. Avoiding the need for actuators to balance gravity torques helps decrease the power consumption and the size of the actuators. Furthermore, a passive gravity compensation mechanism allows the robot to hold a static position without the need for an external power source, hence avoiding the risk of collapsing in case of failure of the actuators. This work focuses on designing a torque generator composed of a non-circular pulley and a spring, which, by solving a convex optimisation problem, offers a new methodology for creating any generic torque and thereby also succeeds in solving gravity compensation problems. This methodology guarantees the outcome of feasible non-circular pulleys which minimise the torque required to perform any specific task.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3056358