用于高效机器人的弹性能量回收执行器

IF 26.1 1区计算机科学 Q1 ROBOTICS

Science Robotics Pub Date : 2024-03-20 DOI:10.1126/scirobotics.adj7246

Erez Krimsky, Steven H. Collins

{"title":"用于高效机器人的弹性能量回收执行器","authors":"Erez Krimsky, Steven H. Collins","doi":"10.1126/scirobotics.adj7246","DOIUrl":null,"url":null,"abstract":"<div >Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":26.1000,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adj7246","citationCount":"0","resultStr":"{\"title\":\"Elastic energy-recycling actuators for efficient robots\",\"authors\":\"Erez Krimsky, Steven H. Collins\",\"doi\":\"10.1126/scirobotics.adj7246\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div >Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.</div>\",\"PeriodicalId\":56029,\"journal\":{\"name\":\"Science Robotics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":26.1000,\"publicationDate\":\"2024-03-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.science.org/doi/reader/10.1126/scirobotics.adj7246\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Science Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.science.org/doi/10.1126/scirobotics.adj7246\",\"RegionNum\":1,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Science Robotics","FirstCategoryId":"94","ListUrlMain":"https://www.science.org/doi/10.1126/scirobotics.adj7246","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ROBOTICS","Score":null,"Total":0}

引用次数: 0

摘要

电机在机器人中应用广泛，但在许多应用中会浪费能源。我们介绍了一种弹性能量回收致动器，它既能保持电机的多功能性，又能提高循环任务中的能效。这种致动器由一个与弹簧阵列并联的电机组成，弹簧阵列可通过一对低功耗电动离合器单独啮合和分离，同时保留储存的能量。我们开发了一个致动器原型，并在五项重复性任务中对其进行了测试，这些任务具有机器人应用中常见的特征，但难以高效执行。在所有情况下，致动器的功耗至少降低了 50%，在最佳情况下降低了 97%。由低功耗离合器控制的弹性能量回收可以提高移动机器人、辅助设备和其他工程系统的效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Elastic energy-recycling actuators for efficient robots

查看原文本刊更多论文

Elastic energy-recycling actuators for efficient robots

Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Science Robotics Mathematics-Control and Optimization

CiteScore

30.60

自引率

2.80%

发文量

期刊介绍： Science Robotics publishes original, peer-reviewed, science- or engineering-based research articles that advance the field of robotics. The journal also features editor-commissioned Reviews. An international team of academic editors holds Science Robotics articles to the same high-quality standard that is the hallmark of the Science family of journals. Sub-topics include: actuators, advanced materials, artificial Intelligence, autonomous vehicles, bio-inspired design, exoskeletons, fabrication, field robotics, human-robot interaction, humanoids, industrial robotics, kinematics, machine learning, material science, medical technology, motion planning and control, micro- and nano-robotics, multi-robot control, sensors, service robotics, social and ethical issues, soft robotics, and space, planetary and undersea exploration.