Design and evaluation of an energy-saving drive for a versatile robotic gripper

Job Neven; Mohamed Mohamed Ashraf Mohamdy Baioumy; Wouter Wolfslag; Martijn Wisse

doi:10.1109/ICRA.2019.8793723

Design and evaluation of an energy-saving drive for a versatile robotic gripper

Job Neven, Mohamed Mohamed Ashraf Mohamdy Baioumy, Wouter Wolfslag^*, Martijn Wisse

^*Corresponding author for this work

Robot Dynamics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

Abstract

The main task of robotic grippers, holding an object, does not require work theoretically. Yet grippers consume significant amounts of energy in practice. This paper presents an approach for designing an energy-saving drive for robotic grippers employing a Statically Balanced Force Amplifier (SBFA) and a Non-backdrivable mechanism (NBDM). A novel metric (Grip Performance Metric) to systematically evaluate drives regarding their energy consumption, is used in the design phase; afterwards, the realization and testing of a prototype (REED, Robotic Energy-Efficient Drive) are presented. Results show that the actuation force can be reduced by 92%, resulting in energy-savings of 86% for an example task. This shows the potential of drives based on SBFAs and NBDMs to achieve energy-neutral grippers.

Original language	English
Title of host publication	Proceedings IEEE International Conference on Robotics and Automation (ICRA 2019)
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	3665-3671
ISBN (Electronic)	978-1-5386-6026-3
ISBN (Print)	978-1-5386-6027-0
DOIs	https://doi.org/10.1109/ICRA.2019.8793723
Publication status	Published - 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ICRA.2019.8793723

Cite this

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title = "Design and evaluation of an energy-saving drive for a versatile robotic gripper",

abstract = "The main task of robotic grippers, holding an object, does not require work theoretically. Yet grippers consume significant amounts of energy in practice. This paper presents an approach for designing an energy-saving drive for robotic grippers employing a Statically Balanced Force Amplifier (SBFA) and a Non-backdrivable mechanism (NBDM). A novel metric (Grip Performance Metric) to systematically evaluate drives regarding their energy consumption, is used in the design phase; afterwards, the realization and testing of a prototype (REED, Robotic Energy-Efficient Drive) are presented. Results show that the actuation force can be reduced by 92%, resulting in energy-savings of 86% for an example task. This shows the potential of drives based on SBFAs and NBDMs to achieve energy-neutral grippers.",

author = "Job Neven and {Mohamed Ashraf Mohamdy Baioumy}, Mohamed and Wouter Wolfslag and Martijn Wisse",

year = "2019",

doi = "10.1109/ICRA.2019.8793723",

language = "English",

isbn = "978-1-5386-6027-0",

pages = "3665--3671",

booktitle = "Proceedings IEEE International Conference on Robotics and Automation (ICRA 2019)",

publisher = "IEEE",

address = "United States",

note = "2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

}

Neven, J, Mohamed Ashraf Mohamdy Baioumy, M, Wolfslag, W & Wisse, M 2019, Design and evaluation of an energy-saving drive for a versatile robotic gripper. in Proceedings IEEE International Conference on Robotics and Automation (ICRA 2019). IEEE, Piscataway, NJ, USA, pp. 3665-3671, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793723

Design and evaluation of an energy-saving drive for a versatile robotic gripper. / Neven, Job; Mohamed Ashraf Mohamdy Baioumy, Mohamed; Wolfslag, Wouter et al.
Proceedings IEEE International Conference on Robotics and Automation (ICRA 2019). Piscataway, NJ, USA: IEEE, 2019. p. 3665-3671.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - The main task of robotic grippers, holding an object, does not require work theoretically. Yet grippers consume significant amounts of energy in practice. This paper presents an approach for designing an energy-saving drive for robotic grippers employing a Statically Balanced Force Amplifier (SBFA) and a Non-backdrivable mechanism (NBDM). A novel metric (Grip Performance Metric) to systematically evaluate drives regarding their energy consumption, is used in the design phase; afterwards, the realization and testing of a prototype (REED, Robotic Energy-Efficient Drive) are presented. Results show that the actuation force can be reduced by 92%, resulting in energy-savings of 86% for an example task. This shows the potential of drives based on SBFAs and NBDMs to achieve energy-neutral grippers.

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ER -

Design and evaluation of an energy-saving drive for a versatile robotic gripper

Abstract

Conference

UN SDGs

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