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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

Jhon F. Rodríguez-León Orcid Logo, Ilse Cervantes, Eduardo Castillo-Castañeda Orcid Logo, Giuseppe Carbone Orcid Logo, Daniele Cafolla Orcid Logo

Actuators, Volume: 10, Issue: 6, Start page: 136

Swansea University Author: Daniele Cafolla Orcid Logo

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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...

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Published in: Actuators
ISSN: 2076-0825
Published: MDPI AG 2021
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URI: https://cronfa.swan.ac.uk/Record/cronfa62494
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spelling 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
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
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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score 11.036706

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