The vast repertoire of human skills enable nimble and graceful execution of several habitual tasks. On the contrary, despite many advances, robots are still far from matching human capabilities. Robots can be envisioned to take up the oft-touted dull, dirty and dangerous humans jobs only with breakthroughs in their energetic and dynamic characteristics. A typical bio-inspired approach that can potentially help robots achieve the aforesaid performance aspects is joint compliance. Compliant actuation technology has vastly diversified in the last decade. A survey of the various actuator methodologies hints at possible advances for series-clutched and series-parallel multi-articulated actuation. To address them, the thesis builds upon these existing actuation concepts and focuses on specifically improving their energetic and dynamic performance characteristics. Energetic benefits of series elastic actuation is often marred by gearbox friction. An instance is when friction dissipates the link energy impeding gravity-driven link motions. At such instances, clutches can help stem undesired power-flows by decoupling the link and motor. In addition, when natural link motions are to be damped while not driving the actuator, clutches can be used to actively exploit slippage to dissipate the excess mechanical energy. Such a continuous clutching action has significant implications for energy economy. Therefore, first contributions of this thesis is towards deriving an energy-based model and an optimal controller for a series clutched actuator. In addition, an optimization-based approach is sought to obtain design parameters for a physical implementation of the actuator. Parallel actuators can often augment series elastic actuators as secondary torque sources. Owing to their energy storage capabilities, they have been used to greatly enhance robot energetics. However, the joint torque resolution problem when employing dissimilar (series and parallel) actuators is difficult, more so when the parallel actuators are ...


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    Titel :

    Energetic and Dynamic Performance Enhancements for Compliant Robot Actuation



    Erscheinungsdatum :

    2021-04-21


    Anmerkungen:

    doi:10.15167/amara-vishnu-dev_phd2021-04-21



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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