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Published in:
2015 | OriginalPaper | Chapter
Forming of Operational Characteristics of an Orthotic Robot by Influencing Parameters of Its Drive Systems
Authors : Karol Bagiński, Jakub Wierciak
Published in: Progress in Automation, Robotics and Measuring Techniques
Publisher: Springer International Publishing
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Power consumption is an important feature of an orthotic robot as it is supplied by batteries of a limited energy capacity. Reduction of the power consumption is obtained by proper selection of actuators, usually electrical, as well as parameters of a transmission. A simulation model of such robot was developed in order to evaluate various solutions of its drives. The model is based on a principle of reduction of loads to the drives. Active and inertial loads result from mechanical structure of the robot and parts of the human body. The drives are controlled in such a way as to reconstruct the assumed movement profiles in the joints. Simulations experiments upon the model revealed an influence of parameters of the electric motor as well as the gear employed on the robot characteristics. One of the key conclusions is that control of the gear ratio can be an effective method of trimming the power demand of the actuators. The performed calculations proved that an energetic gain at the level of 35% can be achieved.