0
RESEARCH PAPERS

An Energy Efficient Manipulator Design Approach: Application to a Leg in Swing Phase

[+] Author and Article Information
Abhishek Agrawal

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716agrawala@me.udel.edu

Sunil K. Agrawal1

Department of Mechanical Engineering, University of Delaware, Newark, DE 19716agrawal@me.udel.edu

1

Corresponding author.

J. Mech. Des 129(5), 512-519 (May 22, 2006) (8 pages) doi:10.1115/1.2712218 History: Received May 20, 2005; Revised May 22, 2006

The importance of energy efficiency of a robotic manipulator is clearly evident when the manipulator has to use on-board power. With miniature machines, this issue is even more important since the size and the weight guides the performance of a design. In this paper, a design methodology is proposed which may allow a robot to follow desired trajectories approximately without actuator inputs. Actuator inputs are used to further modify the trajectories. The design philosophy has the following key elements: (i) the inertia matrix of the device is suitably altered using mass distribution; (ii) compliant elements are introduced to take away the gravity terms; and (iii) additional springs are used to create certain periodic gait motion. This design philosophy is applied on a two dof leg executing a swing motion. It is found that the passive motion of the designed leg is close to the desired trajectories but is not exact. Actuators are added to get the desired response fully. Power input for two legs with and without this design philosophy, are then compared.

Copyright © 2007 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 2

Modified two degree-of-freedom swing leg

Grahic Jump Location
Figure 3

Hip motion in two degree-of-freedom leg. The leg is in swing motion.

Grahic Jump Location
Figure 4

Knee motion in two degree-of-freedom leg. The leg is in swing motion.

Grahic Jump Location
Figure 5

Hip joint motion of two degree-of-freedom leg with springs and actuators. The leg is in swing motion.

Grahic Jump Location
Figure 6

Knee joint motion of two degree-of-freedom leg with springs and actuators. The leg is in swing motion.

Grahic Jump Location
Figure 7

Power input at the hip joint in a two degree-of-freedom system. The leg is in swing motion.

Grahic Jump Location
Figure 8

Power input at the knee joint in a two degree-of-freedom system. The leg is in swing motion.

Grahic Jump Location
Figure 9

Three degree-of-freedom swing leg

Grahic Jump Location
Figure 10

Hip joint motion of three degree-of-freedom leg. The leg is in swing motion.

Grahic Jump Location
Figure 11

Knee joint motion of three degree-of-freedom leg. The leg is in swing motion.

Grahic Jump Location
Figure 12

Hip joint motion of three degree-of-freedom leg with springs and actuators. The leg is in swing motion.

Grahic Jump Location
Figure 13

Knee joint motion of three degree-of-freedom leg with springs and actuators. The leg is in swing motion.

Grahic Jump Location
Figure 14

Power input at the hip joint in a three degree-of-freedom system. The leg is in swing motion.

Grahic Jump Location
Figure 15

Power input at the knee joint in a three degree-of-freedom system. The leg is in swing motion.

Grahic Jump Location
Figure 1

Two degree-of-freedom swing leg

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In