Bio-inspired Variable Gearing of the Distributed Actuation Mechanism based on Optimization

Abstract

Achieving both high speed and great force is a classic but difficult problem in robotics. In this study, we propose bio-inspired variable gearing of the distributed actuation mechanism, and develop an optimization-based method for the simultaneous maximization of velocity and force. In order to quantify the continuously variable gearing, the structural gear ratio was mathematically derived. Then, the multi-objective optimization problem was formulated to determine the maximum velocity of the end effector according to the payload of the 3-DOF manipulator based on the distributed actuation mechanism for application in industrial environments. Further, comparative analysis was performed on the proposed method by constructing a 3-DOF manipulator based on the conventional joint actuation method. It was verified using the optimization framework consisting of a dynamics analysis module and an optimization module. The experimental validation revealed that bio-inspired variable gearing of the distributed actuation mechanism can significantly improve end-effector velocity and force for any given task. © 2022 Korean Society of Mechanical Engineers. All rights reserved.