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Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach

Ludovico, Daniele and Guardiani, Paolo and Lasagni, Francesco and Lee, Jinoh and Cannella, Ferdinando and Caldwell, Darwin G. (2021) Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach. IEEE Robotics and Automation Letters, 6 (2), pp. 958-965. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3056358. ISSN 2377-3766.

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Official URL: http://dx.doi.org/10.1109/LRA.2021.3056358

Abstract

Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may offer a valid solution. Avoiding the need for actuators to balance gravity torques helps decrease the power consumption and the size of the actuators. Furthermore, a passive gravity compensation mechanism allows the robot to hold a static position without the need for an external power source, hence avoiding the risk of collapsing in case of failure of the actuators. This work focuses on designing a torque generator composed of a non-circular pulley and a spring, which, by solving a convex optimisation problem, offers a new methodology for creating any generic torque and thereby also succeeds in solving gravity compensation problems. This methodology guarantees the outcome of feasible non-circular pulleys which minimise the torque required to perform any specific task.

Item URL in elib:https://elib.dlr.de/141572/
Document Type:Article
Title:Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ludovico, DanieleIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Guardiani, PaoloIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Lasagni, FrancescoIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Cannella, FerdinandoIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Caldwell, Darwin G.Istituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Date:February 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:6
DOI:10.1109/LRA.2021.3056358
Page Range:pp. 958-965
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Mechanism design, methods and tools for robot system design
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:28 Apr 2021 14:47
Last Modified:29 Sep 2022 14:37

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