An Energy Saving Power Assist Manipulator with Mechanical Elastic Elements


In this paper, we presents a manipulator with elastic elements for energy saving. With this manipulator the energy needed for driving the manipulator to lift a certain load decreases, so that the smaller actuators can be chosen. This structure is much more suitable for manipulators used in industry and wearable robot for the aged and disabled people. At the same time, we can find the effection of the stiffness of the elastic elements and load mass on torque minimization. The concept we used here is try to store energy get from the actuators and gravity into the springs, and then this saved energy can be part of the driving power to lift load.

  • Abstract
  • Key Words
  • 1 Introduction
  • 2. Dynamics of our Structure
  • 3. Simulation
  • 4. Conclusion
  • References
Topics: Manipulators

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