用于高效机器人的弹性能量回收致动器

IF 26.1 1区计算机科学 Q1 ROBOTICS

Science Robotics Pub Date : 2024-03-20 DOI:https://www.science.org/doi/10.1126/scirobotics.adj7246

Erez Krimsky, Steven H. Collins

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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。

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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.

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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.