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Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm
Actuators, Volume: 10, Issue: 6, Start page: 136
Swansea University Author: Daniele Cafolla
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© 2021 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license
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DOI (Published version): 10.3390/act10060136
Abstract
The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial appl...
Published in: | Actuators |
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ISSN: | 2076-0825 |
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MDPI AG
2021
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URI: | https://cronfa.swan.ac.uk/Record/cronfa62494 |
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2023-03-01T16:28:45.6841615 v2 62494 2023-02-03 Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial applications, the force of gravity is used as a source of energy. For this reason, the use of magnetic springs with actuators may reduce the energy consumption of robots performing trajectories due their high-hardness magnetic properties of energy storage. Accordingly, this paper proposes a magnetic spring configuration as an energy-storing system for a two DoF humanoid arm. Thus, an integration of the magnetic spring system in the robot is described. A control strategy is proposed to enable autonomous use. In this paper, the proposed device is modeled and analyzed with simulations as: mechanical energy consumption and kinetic energy rotational and multibody dynamics. Furthermore, a prototype was manufactured and validated experimentally. A preliminary test to check the interaction between the magnetic spring system with the mechanism and the trajectory performance was carried out. Finally, an energy consumption comparison with and without the magnetic spring is also presented. Journal Article Actuators 10 6 136 MDPI AG 2076-0825 magnetic spring; energy consumption; humanoid arm; control strategy; energy-storing system; neurorehabilitation 21 6 2021 2021-06-21 10.3390/act10060136 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University This work was funded by a grant from Ministero della Salute (Ricerca Corrente 2021). 2023-03-01T16:28:45.6841615 2023-02-03T14:15:57.2339731 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Jhon F. Rodríguez-León 0000-0002-5564-145x 1 Ilse Cervantes 2 Eduardo Castillo-Castañeda 0000-0002-3307-6947 3 Giuseppe Carbone 0000-0003-0831-8358 4 Daniele Cafolla 0000-0002-5602-1519 5 62494__26719__3643a49858e94959aaeed4feaba7c342.pdf 62494_VoR.pdf 2023-03-01T16:27:46.3204766 Output 6218662 application/pdf Version of Record true © 2021 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng https://creativecommons.org/licenses/by/4.0/ |
title |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm |
spellingShingle |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm Daniele Cafolla |
title_short |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm |
title_full |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm |
title_fullStr |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm |
title_full_unstemmed |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm |
title_sort |
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm |
author_id_str_mv |
ac4feae4da44720e216ab2e0359e4ddb |
author_id_fullname_str_mv |
ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla |
author |
Daniele Cafolla |
author2 |
Jhon F. Rodríguez-León Ilse Cervantes Eduardo Castillo-Castañeda Giuseppe Carbone Daniele Cafolla |
format |
Journal article |
container_title |
Actuators |
container_volume |
10 |
container_issue |
6 |
container_start_page |
136 |
publishDate |
2021 |
institution |
Swansea University |
issn |
2076-0825 |
doi_str_mv |
10.3390/act10060136 |
publisher |
MDPI AG |
college_str |
Faculty of Science and Engineering |
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Faculty of Science and Engineering |
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Faculty of Science and Engineering |
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School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science |
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description |
The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial applications, the force of gravity is used as a source of energy. For this reason, the use of magnetic springs with actuators may reduce the energy consumption of robots performing trajectories due their high-hardness magnetic properties of energy storage. Accordingly, this paper proposes a magnetic spring configuration as an energy-storing system for a two DoF humanoid arm. Thus, an integration of the magnetic spring system in the robot is described. A control strategy is proposed to enable autonomous use. In this paper, the proposed device is modeled and analyzed with simulations as: mechanical energy consumption and kinetic energy rotational and multibody dynamics. Furthermore, a prototype was manufactured and validated experimentally. A preliminary test to check the interaction between the magnetic spring system with the mechanism and the trajectory performance was carried out. Finally, an energy consumption comparison with and without the magnetic spring is also presented. |
published_date |
2021-06-21T04:22:09Z |
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1763754460691038208 |
score |
11.035349 |