The issue of energy management in walking machines

• Autorzy: Deda J. , Mirosław T. , Zawadzki A.

Identyfikatory

DOI

10.5604/01.3001.0012.2444

• Języki publikacji: EN

Abstrakty

EN

The energy management is a serious issue in the platforms of mobile robots, and especially walking robots. The solutions are sought so as to obtain the furthest possible range with the energy resources at the disposal. Properly adjusted configuration of the drives and the manner of energy management has a key impact on effectiveness of the drives. The article presents the most important features of the basic driving systems, possible configurations, and steering manners along with the assessment of their effectiveness. The article will present classical and hybrid drives. The authors present a sample analysis of energy “costs” of steering for the selected systems. The analysis will be supported with results of the simulation performed with the use of constructed computer models. The guidelines for designing of the systems for walking platforms will be proposed, enabling to obtain high dynamics and energy efficiency of the system.

Słowa kluczowe

EN

drive; walking machine; energy costs; mobile machine; linear load-sensing systems

PL

napęd; maszyna; koszty energii; maszyna mobilna; liniowe systemy wykrywania obciążenia

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2018
• Tom: Vol. 25, No. 1
• Strony: 49--57
• Opis fizyczny: Bibliogr. 3 poz., rys.

Twórcy

autor

Deda J.

• Warsaw University of Technology Faculty of Automotive and Construction Machinery Engineering Narbutta Street 84, 02-524 Warsaw, Poland tel.: [phone]

autor

Mirosław T.

• Warsaw University of Technology Faculty of Automotive and Construction Machinery Engineering Narbutta Street 84, 02-524 Warsaw, Poland tel.: [phone]

autor

Zawadzki A.

• Warsaw University of Technology Faculty of Automotive and Construction Machinery Engineering Narbutta Street 84, 02-524 Warsaw, Poland tel.: [phone]

Bibliografia

• [1] Bobber, T., Zawadzki, J., Biomechanical układu ruchu człowieka, Wydawnictwo BK, Wroclaw 2006.
• [2] Veneman, J. F., Ekkelenkamp, R., Kruidhof, R., Van der Helm, F. C. T., Van der Kooij, Herman, Biomechanical Engineering, Faculty of Engineering Technology, Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-=actuator in exoskeleton-type training, Proceedings of the 2005 IEEE, 496-499, Chicago 2005.
• [3] Ekkelenkamp, R., Veneman, J., Van Der Kooij, H., LOPES: A lower extremity powered exoskeleton, Robotics and Automation, 2007 IEEE International Conference on, 3132-3133, Roma 2007.

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).