Mechanical specialization of robotic limbs

Nathan M. Cahill, Yi Ren, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper we introduce a design framework that permits task-specific complex geometries in robotic limbs with the minimal power consumption. Additionally we present a optimal gear ratio selection algorithm with realistic constraints, which we use as a subroutine within the geometry optimization. As a case study we optimize the a spatial, hybrid parallel-serial robotic limb structure with a large set of geometric parameters. Optimal design with respect to this mechanism produces three locally optimal families of designs. These are analyzed rigorously and a best design was chosen. A prototype has been constructed from the chosen design family, proving that the approach is practical. This serves as evidence that the design optimization method is an effective tool to minimize the electrical cost of a given task, and thus specialize the design.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4187-4192
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

Fingerprint

Robotics
Geometry
Subroutines
Gears
Electric power utilization
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Cahill, N. M., Ren, Y., & Sugar, T. (2017). Mechanical specialization of robotic limbs. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 4187-4192). [7989482] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989482

Mechanical specialization of robotic limbs. / Cahill, Nathan M.; Ren, Yi; Sugar, Thomas.

ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4187-4192 7989482.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cahill, NM, Ren, Y & Sugar, T 2017, Mechanical specialization of robotic limbs. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989482, Institute of Electrical and Electronics Engineers Inc., pp. 4187-4192, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 5/29/17. https://doi.org/10.1109/ICRA.2017.7989482
Cahill NM, Ren Y, Sugar T. Mechanical specialization of robotic limbs. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4187-4192. 7989482 https://doi.org/10.1109/ICRA.2017.7989482
Cahill, Nathan M. ; Ren, Yi ; Sugar, Thomas. / Mechanical specialization of robotic limbs. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4187-4192
@inproceedings{c7b3d3e77f8b4ae08aab3eeb2076be3f,
title = "Mechanical specialization of robotic limbs",
abstract = "In this paper we introduce a design framework that permits task-specific complex geometries in robotic limbs with the minimal power consumption. Additionally we present a optimal gear ratio selection algorithm with realistic constraints, which we use as a subroutine within the geometry optimization. As a case study we optimize the a spatial, hybrid parallel-serial robotic limb structure with a large set of geometric parameters. Optimal design with respect to this mechanism produces three locally optimal families of designs. These are analyzed rigorously and a best design was chosen. A prototype has been constructed from the chosen design family, proving that the approach is practical. This serves as evidence that the design optimization method is an effective tool to minimize the electrical cost of a given task, and thus specialize the design.",
author = "Cahill, {Nathan M.} and Yi Ren and Thomas Sugar",
year = "2017",
month = "7",
day = "21",
doi = "10.1109/ICRA.2017.7989482",
language = "English (US)",
pages = "4187--4192",
booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

TY - GEN

T1 - Mechanical specialization of robotic limbs

AU - Cahill, Nathan M.

AU - Ren, Yi

AU - Sugar, Thomas

PY - 2017/7/21

Y1 - 2017/7/21

N2 - In this paper we introduce a design framework that permits task-specific complex geometries in robotic limbs with the minimal power consumption. Additionally we present a optimal gear ratio selection algorithm with realistic constraints, which we use as a subroutine within the geometry optimization. As a case study we optimize the a spatial, hybrid parallel-serial robotic limb structure with a large set of geometric parameters. Optimal design with respect to this mechanism produces three locally optimal families of designs. These are analyzed rigorously and a best design was chosen. A prototype has been constructed from the chosen design family, proving that the approach is practical. This serves as evidence that the design optimization method is an effective tool to minimize the electrical cost of a given task, and thus specialize the design.

AB - In this paper we introduce a design framework that permits task-specific complex geometries in robotic limbs with the minimal power consumption. Additionally we present a optimal gear ratio selection algorithm with realistic constraints, which we use as a subroutine within the geometry optimization. As a case study we optimize the a spatial, hybrid parallel-serial robotic limb structure with a large set of geometric parameters. Optimal design with respect to this mechanism produces three locally optimal families of designs. These are analyzed rigorously and a best design was chosen. A prototype has been constructed from the chosen design family, proving that the approach is practical. This serves as evidence that the design optimization method is an effective tool to minimize the electrical cost of a given task, and thus specialize the design.

UR - http://www.scopus.com/inward/record.url?scp=85027996890&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85027996890&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2017.7989482

DO - 10.1109/ICRA.2017.7989482

M3 - Conference contribution

AN - SCOPUS:85027996890

SP - 4187

EP - 4192

BT - ICRA 2017 - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

ER -