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|dc.description.abstract||Statically balanced articulated manipulators are mechanisms which are able to self-balance effects of gravitational force caused by weight of the system itself within the workspace. Only relatively less actuating force is required to activate statically balanced mechanisms compared with general mechanisms. Hence, statically balanced mechanisms have advantages such as energy efficient and easily controlled for applications.
This paper presents a method to assess energy efficiency of statically balanced articulated manipulators. The gravitational and elastic potential energy is presented in quadratic form and arranged into the same representation of stiffness block matrices respectively. The spring configuration matrix specifies the attached links of installed springs and distribution of elastic potential energy in stiffness block matrix. Based on the concept of energy conservation and the stiffness block matrix, spring installation configurations are determined. The direction properties of elastic potential energy are aligned with or against the gravity can be further obtained. Elastic energy contributions providing effects aligned with gravity are redundant for static balance and regarded as negative contributions. Elastic energy contributions counteracting against gravity and redundant elastic effects are regarded as positive contributions. A qualitative efficiency index is proposed as the number ratio of positive elastic energy contributions to total elastic energy contributions. Furthermore, in the case that the magnitudes of gravitational energy contributions are taken into consideration, a quantitative efficiency index can be defined and proposed as the magnitude ratio of positive elastic energy contributions to total elastic energy contributions. The quantitative efficiency index indicates the proportion of elastic energy contributions assisting in static balance. Thus, the higher the quantitative efficiency index is, the better the energy efficiency the mechanism is. Energy efficiency of statically balanced articulated manipulators can be assessed according to the efficiency indexes. A design example is demonstrated to illustrate the practical uses of the efficiency indexes. The proposed methodology can be adopted to help designers to compare the energy efficiency among different statically spring-balanced mechanisms and obtain the most efficient one from energy perspective.
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|dc.description.tableofcontents||Chapter 1 Introduction 1
1.1 Background 1
1.2 Overview of related works 3
1.3 Motivation and preview 6
Chapter 2 Stiffness block matrix representation 9
2.1 Gravitational stiffness block matrix 9
2.2 Property of gravitational stiffness block matrix 12
2.3 Elastic stiffness block matrix 15
2.4 Property of elastic stiffness block matrix 18
Chapter 3 Spring installation configurations 22
3.1 Examination of energy counteraction from vector perspective 22
3.2 Characteristics for determination of spring installation configurations 24
3.3 Determination of spring attachment angles 29
Chapter 4 Qualitative efficiency index 34
4.1 Identification of energy contributions by spring installation configurations 34
4.2 Derivation of qualitative efficiency index 36
4.3 Comparison of energy efficiency of each spring 39
4.4 Comparison of energy efficiency by qualitative efficiency index 40
Chapter 5 Quantitative efficiency index 42
5.1 Derivation of quantitative efficiency index 42
5.2 Comparison of energy efficiency by quantitative efficiency index 48
Chapter 6 Design example 52
6.1 Articulated manipulator with equal link mass 52
6.2 Articulated manipulator with descending link mass 53
Chapter 7 Conclusions 58
|dc.title||Energy Efficiency Assessment of Statically Spring-Balanced Articulated Manipulators||en|
|dc.subject.keyword||Spring,Spring configuration,Static balance,Energy efficiency,||en|
|Appears in Collections:||機械工程學系|
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