Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs
Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Abstract
Abstract Typically, for pick-and-place robots operating at high speeds, an enormous amount of energy is lost during the robot braking phase. This is due to the fact that, during such operational phase, most of the energy is dissipated as heat on the braking resistances of the motor drivers. To increase the energy efficiency during the high-speed pick-and-place cycles, this article investigates the use of variable stiffness springs (VSS) in parallel configuration with the motors. These springs store the energy during the braking phase, instead of dissipating it. The energy is then released to actuate the robot in a next displacement phase. This design approach is combined with a motion generator which seeks to optimize trajectories for input torques reduction (and thus of energy consumption), through solving a boundary value problem (BVP) based on the robot dynamics. Experimental results of the suggested approach on a five-bar mechanism show the drastic reduction of input torques and therefore of energetic losses.