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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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 6; no. 2; pp. 958 - 965
Main Authors:	Ludovico, Daniele, Guardiani, Paolo, Lasagni, Francesco, Lee, Jinoh, Cannella, Ferdinando, Caldwell, Darwin G.
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
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