通过优化刚度与轨迹，降低弹性驱动机械臂的能耗。
Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of SEA-Actuated Parallel Kinematic Manipulators
- 同时优化电机刚度和运动轨迹以减少能量消耗。
- 实测显示该方法可显著降低重复抓取任务的能耗。
- 适合需要长期运行的工业机械臂设计与优化。
工业机器人常执行重复性抓取-放置任务，这类任务持续时间长，节能至关重要。本文研究采用串行弹性驱动器（SEA）的并联机器人（PKM）在抓取-放置任务中的能耗最小化问题。核心思路是激发由电机弹簧产生的自振模式，并利用其振荡特性。为此，分析了预设周期性任务，推导出SEA驱动的PKM动力学模型，并构建了一个联合优化操作轨迹与SEA刚度的能量最小化最优控制问题。其中，刚度优化不涉及可变刚度机构，而是用于设计与参数配置。该方法在两个并联机器人应用中进行了验证，冗余驱动也被考虑在内。结果表明该策略有效可行。
原文摘要 · Abstract (English)
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks tend to automatically run for a long period of time and therefore minimizing energy consumption is always of interest. Recent research addresses this topic by the use of elastic elements and particularly series elastic actuators (SEA). This paper explores the possibilities of minimizing energy consumption of SEA actuated PKM performing pick-and-place tasks. The basic idea is to excite eigenmotions that result from the actuator springs and exploit their oscillating characteristics. To this end, a prescribed cyclic pick-and-place operation is analyzed and a dynamic model of SEA driven PKM is derived. Subsequently, an energy minimizing optimal control problem is formulated where operating trajectories as well as SEA stiffnesses are optimized simultaneously. Here, optimizing the actuator stiffness does not account for variable stiffness actuators. It serves as a tool for the design and dimensioning process. The hypothesis on energy reduction is tested on two (parallel) robot applications where redundant actuation is also addressed. The results confirm the validity of this approach.
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