Design and evaluation of an energy-saving drive for a versatile robotic gripper

Job Neven, Mohamed Mohamed Ashraf Mohamdy Baioumy, Wouter Wolfslag, Martijn Wisse

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationProceedings IEEE International Conference on Robotics and Automation (ICRA 2019)
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages3665-3671
ISBN (Electronic)978-1-5386-6026-3
ISBN (Print)978-1-5386-6027-0
DOIs
Publication statusPublished - 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

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