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Kinematically Redundant Actuators, a solution for conflicting torque-speed requirements. / Verstraten, Tom; Furnémont, Raphaël Guy; Lopez Garcia, Pablo; Rodriguez Cianca, David; Vanderborght, Bram; Lefeber, Dirk.

In: International Journal of Robotics Research, Vol. 38, No. 5, 01.04.2019, p. 612-629.

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@article{5335ab66fea744feb2808e6cfd5abbb7,
title = "Kinematically Redundant Actuators, a solution for conflicting torque-speed requirements",
abstract = "Robots often switch from highly dynamic motion to delivering high torques at low speeds. The actuation requirements for these two regimes are very different. As a consequence, the average efficiency of the actuators is typically much lower than the efficiency at the optimal working point. A potential solution is to use multiple motors for a single motor joint. This results in a redundant degree of freedom, which can be exploited to make the system more efficient overall. In this work, we explore the potential of kinematically redundant actuators in dynamic applications. The potential of a kinematically redundant actuator with two motors is evaluated against a single-motor equivalent in terms of operating range, maximum acceleration and energy consumption. We discuss how the comparison is influenced by the design of the actuator and the way how the power is distributed over the input motors. Our results support the idea that kinematically redundant actuators can resolve the conflicting torque-speed requirements typical of robots.",
keywords = "Over-actuated systems, actuator dynamics, energy efficiency, redundant actuation",
author = "Tom Verstraten and Furn{\'e}mont, {Rapha{\"e}l Guy} and {Lopez Garcia}, Pablo and {Rodriguez Cianca}, David and Bram Vanderborght and Dirk Lefeber",
year = "2019",
month = "4",
day = "1",
doi = "10.1177/0278364919826382",
language = "English",
volume = "38",
pages = "612--629",
journal = "International Journal of Robotics Research",
issn = "0278-3649",
publisher = "SAGE Publications Inc.",
number = "5",

}

RIS

TY - JOUR

T1 - Kinematically Redundant Actuators, a solution for conflicting torque-speed requirements

AU - Verstraten, Tom

AU - Furnémont, Raphaël Guy

AU - Lopez Garcia, Pablo

AU - Rodriguez Cianca, David

AU - Vanderborght, Bram

AU - Lefeber, Dirk

PY - 2019/4/1

Y1 - 2019/4/1

N2 - Robots often switch from highly dynamic motion to delivering high torques at low speeds. The actuation requirements for these two regimes are very different. As a consequence, the average efficiency of the actuators is typically much lower than the efficiency at the optimal working point. A potential solution is to use multiple motors for a single motor joint. This results in a redundant degree of freedom, which can be exploited to make the system more efficient overall. In this work, we explore the potential of kinematically redundant actuators in dynamic applications. The potential of a kinematically redundant actuator with two motors is evaluated against a single-motor equivalent in terms of operating range, maximum acceleration and energy consumption. We discuss how the comparison is influenced by the design of the actuator and the way how the power is distributed over the input motors. Our results support the idea that kinematically redundant actuators can resolve the conflicting torque-speed requirements typical of robots.

AB - Robots often switch from highly dynamic motion to delivering high torques at low speeds. The actuation requirements for these two regimes are very different. As a consequence, the average efficiency of the actuators is typically much lower than the efficiency at the optimal working point. A potential solution is to use multiple motors for a single motor joint. This results in a redundant degree of freedom, which can be exploited to make the system more efficient overall. In this work, we explore the potential of kinematically redundant actuators in dynamic applications. The potential of a kinematically redundant actuator with two motors is evaluated against a single-motor equivalent in terms of operating range, maximum acceleration and energy consumption. We discuss how the comparison is influenced by the design of the actuator and the way how the power is distributed over the input motors. Our results support the idea that kinematically redundant actuators can resolve the conflicting torque-speed requirements typical of robots.

KW - Over-actuated systems

KW - actuator dynamics

KW - energy efficiency

KW - redundant actuation

UR - http://www.scopus.com/inward/record.url?scp=85061183937&partnerID=8YFLogxK

U2 - 10.1177/0278364919826382

DO - 10.1177/0278364919826382

M3 - Article

VL - 38

SP - 612

EP - 629

JO - International Journal of Robotics Research

JF - International Journal of Robotics Research

SN - 0278-3649

IS - 5

ER -

ID: 42179134