Design and Control of an Energy-Saving Robot Using Storage Elements and Reaction Wheels

In this paper, we propose a concept for the design and control of an energy saving robot utilizing springs and reaction wheels. Firstly, we examine the simultaneous optimization problem of spring parameters and trajectories with respect to the energy consumption based on optimal control theory. We analyze the relationship between the consumed energy and the robot cycle time, derive a condition for an optimal energy efficient cycle, and propose a corresponding design method for springs. After that, we consider the practical design problem to realize the proposed energy saving manipulator concept. In order to verify the proposed method, a prototype 2DOF manipulator is developed by using linear springs and reaction wheels. The experimental results show the effectiveness of the proposed energy saving manipulator concept.