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Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms

Published online by Cambridge University Press:  10 February 2017

W. Robert Brown  and
A. Galip Ulsoy
W. Robert Brown*
Affiliation:
Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan 48109, USA. E-mail: ulsoy@umich.edu
A. Galip Ulsoy
Affiliation:
Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan 48109, USA. E-mail: ulsoy@umich.edu
*
*Corresponding author. E-mail: wrbrown@umich.edu
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Summary

A comparison of series, 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 utility. We introduce a new initial design using a weighted force displacement curve fit. A robust design approach for a family of maneuvers is developed and presented. Applications to a 3-link manipulator arm show that PADs could reduce energy consumption between 60% and 80%.

Keywords

DesignSerial Manipulator Design and KinematicsMechatronic SystemsMobile RobotsSensor or Actuator Design
Type
Articles
Information
Robotica , Volume 35 , Issue 11 , November 2017 , pp. 2238 - 2255
Copyright
Copyright © Cambridge University Press 2017 

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