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Power Aspects of Rheonomic Multibody Systems
Author(s) -
Schiehlen W.
Publication year - 2002
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/1617-7061(200203)1:1<115::aid-pamm115>3.0.co;2-r
Subject(s) - inverse dynamics , robotics , power (physics) , nonlinear system , degrees of freedom (physics and chemistry) , process (computing) , robot , energy consumption , inverse , control engineering , displacement (psychology) , computer science , multibody system , control theory (sociology) , mechanical energy , energy (signal processing) , engineering , artificial intelligence , control (management) , mathematics , electrical engineering , physics , psychology , statistics , geometry , kinematics , classical mechanics , quantum mechanics , psychotherapist , operating system
Flexible manufacturing systems are characterized by machines with some or all mechanical degrees of freedom actively controlled resulting in the necessary prescribed motion of the production process or rheonomic constraints, respectively. Due to the high nonlinearity of large displacement motions inverse dynamics is a standard control concept well established in robotics and walking machines. It is shown that inverse dynamics results in high energy consumption and requires large power supply. For autonomous robots and walking machines the power supply adds to the weight, and additional weight needs more power again. Finally, actively controlled walking machines are very heavy devices not comparable to the lightweight design of passive walking mechanisms. It is proposed to use local energy storage by springs to overcome the drawback of inverse dynamics. The design principles for reduced energy consumption are outlined with simple mechanical models and will include nonlinear characteristics of the springs to improve further the local energy storage capacity.