Energy efficient robots based on structures with tensegrity features and cable-driven mechanisms

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F23%3A00366199" target="_blank" >RIV/68407700:21220/23:00366199 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.mechmachtheory.2023.105364" target="_blank" >https://doi.org/10.1016/j.mechmachtheory.2023.105364</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.mechmachtheory.2023.105364" target="_blank" >10.1016/j.mechmachtheory.2023.105364</a>

Result language

angličtina

Original language name

Energy efficient robots based on structures with tensegrity features and cable-driven mechanisms

Original language description

The paper presents concept of energy efficient motion control of robots and other machines based on structures with tensegrity features and/or cable-driven mechanisms. The essence of concept is generalization of so called eigenmotion idea for these multi-DOF complex mechanisms. The term eigenmotion here refers to a motion of a mechanism in which the constant sum of kinetic and potential energy is maximally preserved. The operation of the drives is ideally used only to eliminate passive resistances and to minimize deviations of motion from the required trajectory. The main advantage of mechanisms with tensegrity features and cable-driven ones is a relatively high number of elements such as springs, active cables or variable bodies, whose energy absorbing properties can be suitably adjusted during design and some also continuously during operation. The variability of attainable eigenmotion trajectories of these types of mechanisms can be further extended thanks to number of drives higher than number of end-effector degrees of freedom. The concept is demonstrated on two planar systems, one structure with tensegrity features and one serial–parallel cable-driven robot. The examples show the optimization of the parameters to achieve the eigenmotion properties on the given trajectories, as well as the change of the eigenmotion trajectory by changing the adjustable parameters. The final control of mechanical models along energy efficient trajectories is realized by computed torque control method.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20302 - Applied mechanics

Project

<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Mechanism and Machine Theory

ISSN

0094-114X

e-ISSN

1873-3999

Volume of the periodical

187

Issue of the periodical within the volume

September

Country of publishing house

GB - UNITED KINGDOM

Number of pages

21

Pages from-to

1-21

UT code for WoS article

000990470600001

EID of the result in the Scopus database

2-s2.0-85153582331