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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.14441 |
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| _version_ | 1866914807757668352 |
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| author | Girard, Alexandre Asada, H. Harry |
| author_facet | Girard, Alexandre Asada, H. Harry |
| contents | This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong; exploiting the natural load dynamics for moving at higher speeds (small reduction ratio), while also able to bear a large load through the attenuation of the load dynamics (large reduction ratio). A model-based control algorithm to automatically select the optimal gear-ratios that minimize the total actuator torques for an arbitrary dynamic state and expected uncertainty level is proposed. Also, a novel 3-DoF robot arm using custom actuators with two discrete gear-ratios is presented. The advantages of gear-shifting dynamically are demonstrated through experiments and simulations. Results show that actively changing the gear-ratio using the proposed control algorithms can lead to an order-of-magnitude reduction of necessary actuator torque and power, and also increase robustness to disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_14441 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators Girard, Alexandre Asada, H. Harry Robotics This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong; exploiting the natural load dynamics for moving at higher speeds (small reduction ratio), while also able to bear a large load through the attenuation of the load dynamics (large reduction ratio). A model-based control algorithm to automatically select the optimal gear-ratios that minimize the total actuator torques for an arbitrary dynamic state and expected uncertainty level is proposed. Also, a novel 3-DoF robot arm using custom actuators with two discrete gear-ratios is presented. The advantages of gear-shifting dynamically are demonstrated through experiments and simulations. Results show that actively changing the gear-ratio using the proposed control algorithms can lead to an order-of-magnitude reduction of necessary actuator torque and power, and also increase robustness to disturbances. |
| title | Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.14441 |