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Robust Maneuver Based Design of Passive-Assist Devices for Augmenting Robotic Manipulator Joints

[+] Author Affiliations
W. Robert Brown, A. Galip Ulsoy

University of Michigan, Ann Arbor, MI

Paper No. DSCC2013-3819, pp. V001T09A002; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


A methodology for designing a parallel, passive-assist device to augment an active system using energy minimization based on a known maneuver is presented. Implementation of the passive-assist device can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring. Here we show that the concept can effectively be applied to more complicated machines performing known periodic motions by simulating a 3-link manipulator arm. The arm can be decoupled prior to optimization using inverse dynamics — greatly simplifying the optimization problem. The addition of optimized springs results in a system-wide decrease in energy consumption of 70.9%. Finally, we consider a distribution of possible maneuvers and use the concepts of robust design to find springs that increase the guaranteed energy savings at a 90% confidence level.

Copyright © 2013 by ASME
Topics: Design , Manipulators



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