抄録
In this study, we consider the problem of minimizing the energy consumption of multibody systems using passive elastic elements for energy storage. In a previous paper (Schiehlen and Iwamura, 2009), we only considered the motion in the horizontal plane. In this paper, we allow spatial motion under gravity. Firstly, based on the linearized equations of motion, we analyze the relationship between the consumed energy and the operating time using optimal control theory. Then, we derive a condition for the operating time to be optimal, and propose an optimal design method for springs. Finally, we show the effectiveness of the design method by applying it to robot manipulator arms.
