A method for reducing the energy consumption of pick-and-place industrial robots

Pellicciari, Marcello; Berselli, Giovanni; Leali, Francesco; Vergnano, Alberto

doi:10.1016/j.mechatronics.2013.01.013

Cited by 123 publications

(63 citation statements)

References 21 publications

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“…In literature, different approaches are used to build the model; it can be defined through a mathematical formulation and by considering only the main important factors (i.e., basic mathematical model) , or it is possible to also take into account secondary terms that increase the results' precision but on the other hand need more computational efforts (i.e., extended mathematical model) [71][72][73][74][75][76][77]. The availability of software simulation tools allows thus the simple implementation of complex extended models [78][79][80][81] that can describe several physical domains [37,[82][83][84][85]. These allow for the integration of several simulation approaches that are evaluated separately: control, kinematic, dynamic, physical behavior, and discrete event simulations [83].…”

Section: Software: Enhancement Of the Motion Planning Phasementioning

confidence: 99%

“…Operations scheduling is a further approach related to the motion planning modification that can be found in literature, which saves energy by reducing the energy consumption of a single robotic system or a robotic cell [61][62][63][64][65][66][67][76][77][78]88,89,91,92]. In a robotic cell, a robot works synchronously with other robots or mechatronic systems, and the whole work has to be balanced in order to avoid queues.…”

Section: Operations Schedulingmentioning

confidence: 99%

“…Thus, a robot waits for the completion of the previous robotic operation before executing its task in order to avoid collisions. The scheduling approach focuses on the optimization of the robot cell operations as a whole, and two main methods can be found: time scaling [61][62][63][64][65][76][77][78] and sequence scheduling [66,67,88,89,91].…”

Section: Operations Schedulingmentioning

confidence: 99%

“…Moreover, the activation of a mechanical brake during the robot idle state (also in short-time idle state) is considered to reduce the energy consumption. The works [65,78] consider the scheduling optimization of a serial and a parallel manipulator, respectively, while performing a pick-and-place task. Also in this case, the optimization can be performed only on a selection of paths in order not to affect the manufacturing process' efficiency and robustness.…”

Section: Time Scalingmentioning

confidence: 99%

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A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

2017

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Abstract:In the last decades, increasing energy prices and growing environmental awareness have driven engineers and scientists to find new solutions for reducing energy consumption in manufacturing. Although many processes of a high energy consumption (e.g., chemical, heating, etc.) are considered to have reached high levels of efficiency, this is not the case for many other industrial manufacturing activities. Indeed, this is the case for robotic and automatic systems, for which, in the past, the minimization of energy demand was not considered a design objective. The proper design and operation of industrial robots and automation systems represent a great opportunity for reducing energy consumption in the industry, for example, by the substitution with more efficient systems and the energy optimization of operation. This review paper classifies and analyses several methodologies and technologies that have been developed with the aim of providing a reference of existing methods, techniques and technologies for enhancing the energy performance of industrial robotic and mechatronic systems. Hardware and software methods, including several subcategories, are considered and compared, and emerging ideas and possible future perspectives are discussed.

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Section: Software: Enhancement Of the Motion Planning Phasementioning

confidence: 99%

Section: Operations Schedulingmentioning

confidence: 99%

Section: Operations Schedulingmentioning

confidence: 99%

Section: Time Scalingmentioning

confidence: 99%

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A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

2017

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“…[3][4][5][6][7][8][9][10] Generally, there are various components of the robotic system that consume energy, such as the controller, the fans for cooling, the motor, and the friction of the robot joint. Mohammed et al 5 proposed to choose energy-efficient robot configuration to save the energy consumption of industrial robot.…”

Section: Introductionmentioning

confidence: 99%

Energy consumption modeling of industrial robot based on simulated power data and parameter identification

Liu

Yao

et al. 2018

Advances in Mechanical Engineering

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Industrial robots consume a considerable amount of energy in the manufacturing industry. As sustainable manufacturing is one of the directions of manufacturing, the energy efficiency of the industrial robots should be considered. The energy consumption model is the key to analyze and improve the energy efficiency of industrial robots. This article focuses on the energy consumption characteristic analysis and energy consumption modeling of the industrial robot. The inertial and friction parameters which are the base of energy consumption modeling need to be identified. Since the torque which is usually used for parameter identification may be unavailable, we propose to use the software-simulated power data to perform the parameter identification and model the energy consumption of the robot. Then, comprehensive simulations are carried out to verify the effectiveness of the proposed method for parameter identification and the energy consumption model. The relation between the speed of the robot and its energy consumption is also analyzed.

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Heuristic Algorithm for Velocity Scheduling with a Schönflies-Motion Generator

Belzile

Ángeles

2019

Advances in Mechanism and Machine Science

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The authors propose a trajectory-planning algorithm to minimize the maximum torque required to produce a prescribed trajectory with a pick-andplace robot. This is done with a scheduling of the velocity of the moving plate, while following the Adept path. Simulation tests are conducted with the dynamics model of an isostatic Schönflies-motion generator, but the proposed algorithm can be applied to any architecture capable of producing Schönflies motions. Results show a reduction of more than 40 % of the maximum torque required from the actuators, regardless of the cycle time, when traversing the path at 1 Hz and higher.

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A method for reducing the energy consumption of pick-and-place industrial robots

Cited by 123 publications

References 21 publications

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

Energy consumption modeling of industrial robot based on simulated power data and parameter identification

Heuristic Algorithm for Velocity Scheduling with a Schönflies-Motion Generator

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