Natural Motion for Energy Saving in Robotic and Mechatronic Systems

Applied Sciences

卷:9

Lorenzo Scalera¹  Erich Wehrle¹  Ilaria Palomba¹  Renato Vidoni¹  Alessandro Gasparetto² 

[1] Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy;

[2] Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy;

关键词: natural motion;    natural dynamics;    energy saving;    robotic system;    trajectory planning;    optimization;   

DOI  :  10.3390/app9173516

来源: DOAJ

【 摘 要 】

Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion.

【 授权许可】

Unknown