TY - GEN
T1 - Design and evaluation of an energy-saving drive for a versatile robotic gripper
AU - Neven, Job
AU - Mohamed Ashraf Mohamdy Baioumy, Mohamed
AU - Wolfslag, Wouter
AU - Wisse, Martijn
PY - 2019
Y1 - 2019
N2 - The main task of robotic grippers, holding an object, does not require work theoretically. Yet grippers consume significant amounts of energy in practice. This paper presents an approach for designing an energy-saving drive for robotic grippers employing a Statically Balanced Force Amplifier (SBFA) and a Non-backdrivable mechanism (NBDM). A novel metric (Grip Performance Metric) to systematically evaluate drives regarding their energy consumption, is used in the design phase; afterwards, the realization and testing of a prototype (REED, Robotic Energy-Efficient Drive) are presented. Results show that the actuation force can be reduced by 92%, resulting in energy-savings of 86% for an example task. This shows the potential of drives based on SBFAs and NBDMs to achieve energy-neutral grippers.
AB - The main task of robotic grippers, holding an object, does not require work theoretically. Yet grippers consume significant amounts of energy in practice. This paper presents an approach for designing an energy-saving drive for robotic grippers employing a Statically Balanced Force Amplifier (SBFA) and a Non-backdrivable mechanism (NBDM). A novel metric (Grip Performance Metric) to systematically evaluate drives regarding their energy consumption, is used in the design phase; afterwards, the realization and testing of a prototype (REED, Robotic Energy-Efficient Drive) are presented. Results show that the actuation force can be reduced by 92%, resulting in energy-savings of 86% for an example task. This shows the potential of drives based on SBFAs and NBDMs to achieve energy-neutral grippers.
UR - http://www.scopus.com/inward/record.url?scp=85071466598&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793723
DO - 10.1109/ICRA.2019.8793723
M3 - Conference contribution
AN - SCOPUS:85071466598
SN - 978-1-5386-6027-0
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3665
EP - 3671
BT - Proceedings IEEE International Conference on Robotics and Automation (ICRA 2019)
PB - IEEE
CY - Piscataway, NJ, USA
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -