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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Profile Design of Parallel Rotary Compliance for Energy Efficiency in Cyclic Tasks
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Profile Design of Parallel Rotary Compliance for Energy Efficiency in Cyclic Tasks

机译：循环任务中平行旋转顺应性的轮廓设计，以提高能源效率

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摘要

Compliant elements, installed in parallel with actuators, potentially contribute to the energy efficiency of legged robots. Nevertheless, finding the most appropriate compliance profile, especially over a reasonable range of locomotion speeds, is still an open topic. This article contributes to the literature on three grounds. First, it proposes optimality conditions for parallel compliance in terms of energy efficiency. Second, it introduces a class of parallel compliance termed as rotary compliance, in that recycling energy in reciprocal motions is done through continuous rotation of a compliant element. Rotary compliances have the potential to result in higher energy efficiency in cyclic tasks in comparison to reciprocating compliances. Finally, it presents a rotary compliance profile design method for energy and torque minimization. Robustness against some task frequency variations is also considered in the design process. Experimental results on implementing the rotary compliance on a robotic leg show up to $49%$ energy consumption improvement in absence of ground impact and up to $22%$ in running tests on a treadmill. Moreover, investigation of the effects of velocity variations on the efficiency of the compliance reveals an acceptable robustness level for the proposed design.
机译：与执行器并联安装的兼容元件可能会提高腿式机器人的能源效率。然而，找到最合适的依从性，尤其是在合理的运动速度范围内，仍然是一个开放的话题。本文从三个方面为文献做出了贡献。首先，从能源效率的角度提出了并行遵守的最优条件。其次，它引入了一类称为旋转顺应性的平行顺应性，其中往复运动中的能量回收是通过顺应性元件的连续旋转来完成的。与往复式顺应性相比，旋转顺应性有可能在循环任务中带来更高的能源效率。最后，它提出了一种用于最小化能量和扭矩的旋转柔度轮廓设计方法。在设计过程中还考虑了针对某些任务频率变化的稳健性。在机器人腿上实现旋转柔度的实验结果表明，在没有地面冲击的情况下，能耗降低了多达49％。在跑步机上的运行测试中，能耗降低了22％。此外，对速度变化对顺应性效率的影响的研究揭示了所提出设计的可接受的鲁棒性水平。

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