Modern industry benefits from the automation capabilities and flexibility of robots. Consequently, performance depends on individual task, robot trajectory, while application periods several years lead to a significant impact use phase resource efficiency. In this work, simulation models predicting robot’s energy consumption are extended by an estimation reliability, enabling consideration maintenance enhance assessment application’s life cycle costs. Furthermore, yields greenhouse gas...

Modern manufacturing benefits from the automation capabilities and flexibility of robots. Consequently, arising ecological economical costs depend on individual use case. In this context, energy consumption is often viewed as an important factor regarding resource efficiency. Extending corresponding models with load criteria for wear fatigue occurring in joint transmissions enables additional consideration expected service life. Potential impact trajectory, motion time payload are evaluated...

Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such can support energy efficiency, especially if the natural behavior of system is exploited. In this paper, power and consumption variable stiffness with serial elasticity investigated analytically experimentally. fundamental mechanics, influence friction electrical losses discussed. A simple but effective control method used to exploit corresponding knowledge...

Abstract For people with lower limb amputation, a user-specific human-machine interaction their prostheses is required to ensure safe and comfortable assistance. Especially during dynamic turning manoeuvres, users experience high loads at the stump, which decreases comfort may lead long-term tissue damage. Preliminary experiments wearing configurable, passive torsional adaptor indicate increased safety achieved by adaptation of stiffness foot alignment. Moreover, results show that individual...

Making robotic joints compliant in their interaction with the environment is an important objective. Controlling contact forces ensures safety as required for human-robot interaction. One issue to achieve this along position tracking Variable Stiffness Actuators (VSA). Since VSAs are themselves, they can contribute requirements terms of hardware. Beyond this, impedance controllers additionally alter system output characteristics software. In paper, control without torquefeedback...

This paper presents a systematic approach for experimental identification and assessment of mechanical effects on the dynamics elastic actuators. The variable torsion stiffness (VTS) actuator is used as an example. As basis parameter identification, flexible joint robot model considering friction damping used. To identify assess occurring effects, component-wise investigation VTS drive train performed. In this, influences inertia are examined using numerical least-squares regression to link...

This paper proposes a probabilistic approach for the design of elastic elements to be used in structure-controlled variable stiffness actuators (VSA) robotic applications. Considering natural dynamics actuation system, requirements are defined and material selection as well geometry calculation performed using lumped parameter models. Monte Carlo simulations integrated procedure ensure robust implementation required dynamical characteristics. Thereby, effects uncertainties that might caused...

Operating times of several years indicate a high influence energy consumption on the resource efficiency robotic system. Consequently, is addressed by various methods related to improvement hardware or optimal motion planning. However, service life and potential prolongation impact as well. Correspondingly, multi-objective trajectory optimization allows consider expected in conjunction. To this end, both criteria are modeled based structure components an exemplary manipulator....

Robotersysteme mit elastischen Aktoren ermöglichen eine sichere Mensch-Roboter- Interaktion und einen energieeffizienten Betrieb. Da steigende Komplexität kritische Betriebssituationen das Auftreten von Fehlern begünstigen können, untersucht der vorliegende Beitrag technische Fehler bei Robotersystemen Aktoren. Um relevante zu identifizieren bewerten, wurden Expertenaussagen aus einer Onlinebefragung statistisch ausgewertet zudem methodische Analysen an einem Praxisbeispiels durchgeführt....