Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms

Robotica ◽  
2017 ◽  
Vol 35 (11) ◽  
pp. 2238-2255 ◽  
Author(s):  
W. Robert Brown ◽  
A. Galip Ulsoy
Keyword(s):  
Energy Consumption ◽  
Robust Design ◽  
Energy Minimization ◽  
System Performance ◽  
Displacement Curve ◽  
Assist Devices ◽  
Curve Fit ◽  
Manipulator Arm ◽  
Reduce Energy Consumption ◽  
Force Displacement

SUMMARYA comparison of series, parallel, and dual Passive Assist Devices(PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. We introduce a new initial design using a weighted force displacement curve fit. A robust design approach for a family of maneuvers is developed and presented. Applications to a 3-link manipulator arm show that PADs could reduce energy consumption between 60% and 80%.

Maneuver Based Design of Passive-Assist Devices: A Comparison of Parallel and Serial Systems

2013 ◽  
Author(s):  
W. Robert Brown ◽  
A. Galip Ulsoy
Keyword(s):  
Selection Procedure ◽  
Displacement Curve ◽  
Robot Arm ◽  
Dual Systems ◽  
Assist Devices ◽  
Curve Fit ◽  
Manipulator Arm ◽  
Reduce Energy Consumption ◽  
Force Displacement ◽  
Insight Into

A comparison of serial, parallel, and dual Passive Assist Devices (PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or safety. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring in parallel. Here we show that the concept can extended to serial and dual systems as well. To make the optimization converge more quickly we introduce a new initial design using a weighted force displacement curve fit. We provide engineering insight into why different types of PADs perform differently depending on the maneuver and offer guidelines on how to select a specific type based on the application. Finally, we demonstrate this design process and selection procedure on a 3-link manipulator arm and show that a combination of parallel and dual PADs could reduce energy consumption by up to 78%.

Experimental Analysis on Vapour Compression Refrigeration System Using Nanolubricant with HFC-134a Refrigerant

Nano Hybrids ◽  
2015 ◽  
Vol 9 ◽  
pp. 33-43 ◽  
Author(s):  
A. Manoj Babu ◽  
S. Nallusamy ◽  
K. Rajan
Keyword(s):  
Energy Consumption ◽  
System Performance ◽  
Mineral Oil ◽  
Coefficient Of Performance ◽  
Refrigeration System ◽  
Hfc 134A ◽  
Reduce Energy Consumption ◽  
And Performance ◽  
Vapour Compression ◽  
Better Than

This paper investigates the reliability and performance of a refrigeration system using nanolubricant with 1, 1, 1, 2-Tetrafluoroethane (HFC-134a) refrigerant. Mineral Oil (MO) is mixed with nanoparticles such as Titanium Dioxide (TiO2) and Aluminium Oxide (Al2O3). These mixtures were used as the lubricant instead of Polyolester (POE) oil in the HFC-134a refrigeration system as HFC-134a does not compatible with raw mineral oil. An investigation was done on compatibility of mineral oil and nanoparticles mixture at 0.1 and 0.2 grams / litre with HFC-134a refrigerant. To carry out this investigation, an experimental setup was designed and fabricated in the lab. The refrigeration system performance with the nanolubricant was investigated by using energy consumption test. The results indicate that HFC-134a and mineral oil with above mentioned nanoparticles works normally and safely in the refrigeration system. The refrigeration system performance was better than the HFC-134a and POE oil system. Thus nanolubricant (Mixture of Mineral Oil (MO) and nanoParticles) can be used in refrigeration system to considerably reduce energy consumption and better Coefficient of Performance (COP).

scholarly journals A ‘Design for Energy Minimization’ approach to reduce energy consumption during the manufacturing phase

Energy ◽  
2016 ◽  
Vol 109 ◽  
pp. 894-905 ◽  
Author(s):  
Yingying Seow ◽  
Nicholas Goffin ◽  
Shahin Rahimifard ◽  
Elliot Woolley
Keyword(s):  
Energy Consumption ◽  
Energy Minimization ◽  
Reduce Energy Consumption ◽  
Minimization Approach

Naval Energy Management System

2020 ◽  
Vol 26 (3) ◽  
pp. 20-25
Author(s):  
Laurențiu Bogdan Asalomia ◽  
Gheorghe Samoilescu
Keyword(s):  
Energy Consumption ◽  
Power Systems ◽  
New Technologies ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Efficient Management ◽  
Reduce Energy Consumption ◽  
Energy Efficiency Design Index ◽  
Green Ship

AbstractThe paper analyses the role of control and monitoring of electro-energetic equipment in order to reduce operational costs, increase profits and reduce carbon emissions. The role of SCADA and EcoStruxure Power systems is presented and analysed taking into account the energy consumption and its savings. The paper presents practical and modern solutions to reduce energy consumption by up to 53%, mass by up to 47% and increase the life of the equipment by adjusting the electrical parameters. The Integrated Navigation System has allowed an automatic control and an efficient management. For ships, the implementation of an energy efficiency design index and new technologies was required for the GREEN SHIP project.

The Research of Measuring Approach and Energy Efficiency for Hadoop Periodic Jobs

2015 ◽  
Vol 8 (1) ◽  
pp. 206-210 ◽  
Author(s):  
Yu Junyang ◽  
Hu Zhigang ◽  
Han Yuanyuan
Keyword(s):  
Energy Efficiency ◽  
Cloud Computing ◽  
Energy Consumption ◽  
Energy Saving ◽  
Energy Estimate ◽  
Cloud Platform ◽  
Periodic Tasks ◽  
Current Consumption ◽  
Reduce Energy Consumption

Current consumption of cloud computing has attracted more and more attention of scholars. The research on Hadoop as a cloud platform and its energy consumption has also received considerable attention from scholars. This paper presents a method to measure the energy consumption of jobs that run on Hadoop, and this method is used to measure the effectiveness of the implementation of periodic tasks on the platform of Hadoop. Combining with the current mainstream of energy estimate formula to conduct further analysis, this paper has reached a conclusion as how to reduce energy consumption of Hadoop by adjusting the split size or using appropriate size of workers (servers). Finally, experiments show the effectiveness of these methods as being energy-saving strategies and verify the feasibility of the methods for the measurement of periodic tasks at the same time.

Performance Analysis of Energy Efficient Opportunistic Routing Protocols in Wireless Sensor Network

2019 ◽  
Vol 09 ◽  
Author(s):  
Premkumar Chithaluru ◽  
Rajeev Tiwari ◽  
Kamal Kumar
Keyword(s):  
Energy Consumption ◽  
Routing Protocols ◽  
Energy Efficient ◽  
Data Communication ◽  
Opportunistic Routing ◽  
Link Quality ◽  
Delivery Ratio ◽  
Performance Parameters ◽  
Wireless Medium ◽  
Reduce Energy Consumption

Background: Energy Efficient wireless routing has been an area of research particularly to mitigate challenges surrounding performance in category of Wireless Networks. Objectives: The Opportunistic Routing (OR) technique was explored in recent times and exhibits benefits over many existing protocols and can significantly reduce energy consumption during data communication with very limited compromise on performance. Methods : Using broadcasting nature of the wireless medium, OR practices to discourse two foremost issues of variable link quality and unpredictable node agility in constrained WSNs. OR has a potential to reduce delay in order to increase the consistency of data delivery in network. Results : Various OR based routing protocols have shown varying performances. In this paper, a detailed conceptual and experimental analysis is carried out on different protocols that uses OR technique for providing more clear and definitive view on performance parameters like Message Success Rate, Packet Delivery Ratio and Energy Consumption.

scholarly journals Study on improvement of prefolded energy absorption device to constant resistance and its mechanical properties

2021 ◽  
Vol 104 (3) ◽  
pp. 003685042110368
Author(s):  
Dong An ◽  
Jiaqi Song ◽  
Hailiang Xu ◽  
Jingzong Zhang ◽  
Yimin Song ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Energy Absorption ◽  
Compression Test ◽  
Side Wall ◽  
Concave Side ◽  
Displacement Curve ◽  
Static Compression ◽  
Constant Resistance ◽  
The Impact ◽  
Force Displacement

When the rock burst occurs, energy absorption support is an important method to solve the impact failure. To achieve constant resistance performance of energy absorption device, as an important component of the support, the mechanical properties of one kind of prefolded tube is analyzed by quasi-static compression test. The deformation process of compression test is simulated by ABAQUS and plastic strain nephogram of the numerical model are studied. It is found that the main factors affecting the fluctuation of force-displacement curve is the stiffness of concave side wall. The original tube is improved to constant resistance by changing the side wall. The friction coefficient affects the folding order and form of the energy absorbing device. Lifting the concave side wall stiffness can improve the overall stiffness of energy absorption device and slow down the falling section of force-displacement curve. It is always squeezed by adjacent convex side wall in the process of folding, with large plastic deformation. Compared with the original one, the improved prefolded tube designed in this paper can keep the maximum bearing capacity ( Pmax), increase the total energy absorption ( E), improve the specific energy absorption (SEA), and decrease the variance ( S2) of force-displacement curve.

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