Abstract
In this paper a procedure to reduce the motor size in articulated mechanism is developed. In particular, the paper presents a method that allows reducing the peak torque requirement of a single degree of freedom mechanism, through the use of an elastic element. Unlike other works in literature, in this work the choice of the trajectory primitive and the resulting inertial effects are taken into account. Both numerical and experimental results show that the inclusion of a single spring can sensibly decrease the peak torque requirements, thus allowing a cost-effective design modification.
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Acknowledgements
The authors would like to thank Mr. Pris Parfait Keumejio for his valuable contribution to the development of this work.
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Boscariol, P., Boschetti, G., Gallina, P., Passarini, C. (2018). Spring Design for Motor Torque Reduction in Articulated Mechanisms. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_58
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DOI: https://doi.org/10.1007/978-3-319-61276-8_58
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