Minimizing Energy Consumption of Parallel Mechanisms via Redundant Actuation

Lee Giuk; Park Sumin; Lee Donghun; Park Frank C.; Jeong Jay I.; Kim Jongwon

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Minimizing Energy Consumption of Parallel Mechanisms via Redundant Actuation

机译：通过冗余驱动将并联机构的能耗降至最低

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This paper shows that redundant actuation can reduce the energy consumption of parallel mechanisms, in some cases by a considerable margin. A theoretical analysis for the energy-saving mechanism is elucidated, and an energy consumption model for a servo-motor system is proposed. Our hypothesis is experimentally verified with a widely used two degree of freedom parallel mechanism design driven by three actuators. Experimental results show that redundant actuation can reduce the electrical energy consumption of the actuators by up to 45% compared to the corresponding nonredundantly actuated version of the mechanism.

机译：本文表明，冗余驱动可以在某些情况下显着降低并联机构的能耗。阐明了节能机理的理论分析，并提出了伺服电机系统的能耗模型。我们的假设通过由三个执行器驱动的广泛使用的两个自由度并联机构设计进行了实验验证。实验结果表明，与相应的非冗余执行机构相比，冗余执行机构可以将执行机构的电能消耗降低多达45％。

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来源
《Mechatronics, IEEE/ASME Transactions on》 |2015年第6期|2805-2812|共8页
作者
Lee Giuk; Park Sumin; Lee Donghun; Park Frank C.; Jeong Jay I.; Kim Jongwon;
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作者单位

Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea;

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原文格式 PDF
正文语种 eng
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关键词
Energy minimization; parallel mechanism; redundant actuation;

机译：能量最小化;并联机构;冗余驱动;

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1. Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation [J] . Kyoosik Shin, Byung-Ju Yi, Wheekuk Kim Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science . 2014,第11期

机译：具有致动冗余的无并行奇异设计：三种不同类型的具有冗余致动的3自由度并联机构的案例研究
2. Energy-Saving Method of Parallel Mechanism by Redundant Actuation [J] . Lee Giuk, Sul Seung-Ki, Kim Jongwon International Journal Precision Engineering Manufacturing-Green Technology . 2015,第4期

机译：冗余驱动并联机构的节能方法
3. Producing negative active stiffness in redundantly actuated planar rotational parallel mechanisms [J] . Chen Bingxing, Cui Zuo, Jiang Hongzhou Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2018,第期

机译：在冗余致动平面旋转平行机构中产生负极主动刚度
4. Control of parallel mechanism with redundant actuators and non-redundant actuators [C] . Tatsuro Hino, Michihiro Kawanishi, Hiroshi Kanki, International Conference on Mechatronics and Information Technology . 2008

机译：用冗余致动器和非冗余致动器控制并联机构
5. Analysis of redundantly actuated mechanisms with applications to design and control of advanced robotic systems. [D] . Yi, Byung-Ju. 1991

机译：分析冗余执行机构，并将其应用于高级机器人系统的设计和控制。
6. A GENERAL FRAMEWORK FOR MINIMIZING ENERGY CONSUMPTION OF SERIES ELASTIC ACTUATORS WITH REGENERATION [O] . Edgar Bolívar, Siavash Rezazadeh, Robert Gregg -1

机译：最小化带有再生的系列弹性执行器的能量消耗的一般框架
7. Energy-saving method of parallel mechanism by redundant actuation [O] . Giuk Lee, Seung-Ki Sul, Jongwon Kim 2015

机译：通过冗余致动的平行机制节能方法
8. Redundant actuating mechanism Patent [R] . Madey, J. M., Moyer, X. W. 1970

机译：冗余执行机构专利

Minimizing Energy Consumption of Parallel Mechanisms via Redundant Actuation

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