SET Proceedings 2978-4387 Caravel Press 10.65582/set.2011.117 2011.117 Study of Robotic Arms with Flexible Elements for Wave Energy Conversion MaravandiA. amaravandi@sfu.ca MoallemM. mmoallem@sfu.ca School of Engineering Science, Simon Fraser University, Surrey, BC, V3T 0A3, Canada 04092011 10 978-1-995850-03-0 1 5 4 September 2011 © 2011 Copyright WSSET 2011

A marine wave energy converter is a robotic arm augmented with flexure elements such as springs. Based on a theory published by Falnes [5], a mechanism, in which a buoyant can independently move in horizontal and vertical directions can theoretically absorb all wave energy in a two-dimensional wave motion. On the other hand, many wave energy conversion devices are equipped with springs that store and release energy during each motion cycle of the device. In this paper, two robotic arms with spring elements are investigated in terms of their capability to extract energy from marine waves. A one link robotic arm with a spring is studied that is subjected to horizontal and vertical buoyant motions followed by a two-link robot with springs at the joints. Analytical and simulation studies are presented. Numerical simulations indicate that a 13% increase in energy absorption can be achieved for the two link robot when compared to the single-link arm.

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