Design and Evaluation of an Energy-Saving Drive for a Versatile Robotic Gripper

被引：0

作者：

Neven, Job ^{[1
]}

Baioumy, Mohamed ^{[1
]}

Wolfslag, Wouter ^{[2
]}

Wisse, Martijn ^{[1
]}

机构：

[1] Delft Univ Technol, Fac 3mE, Delft, Netherlands

[2] Univ Edinburgh, Sch Informat, Edinburgh, Midlothian, Scotland

来源：

2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2019年

关键词：

HAND;

D O I：

10.1109/icra.2019.8793723

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The main task of robotic grippers, holding an object, does not require work theoretically. Yet grippers consume significant amounts of energy in practice. This paper presents an approach for designing an energy-saving drive for robotic grippers employing a Statically Balanced Force Amplifier (SBFA) and a Non-backdrivable mechanism (NBDM). A novel metric (Grip Performance Metric) to systematically evaluate drives regarding their energy consumption, is used in the design phase; afterwards, the realization and testing of a prototype (REED, Robotic Energy-Efficient Drive) are presented. Results show that the actuation force can be reduced by 92%, resulting in energy-savings of 86% for an example task. This shows the potential of drives based on SBFAs and NBDMs to achieve energy-neutral grippers.

引用

页码：3665 / 3671

页数：7

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