Task-Dependent Energetic Analysis of a 3 d.o.f. Industrial Manipulator

Boscariol, Paolo; Scalera, Lorenzo; Gasparetto, Alessandro

doi:10.1007/978-3-030-19648-6_19

Cited by 6 publications

(6 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Article [42] presents a method for studying potential energy savings through practical energy consumption optimization. The experiment utilized an artificial neural network to accurately depict the quantitative relationships between operational parameters and energy consumption.…”

Section: Energy Efficiency In Robotics: Reducing Industrial Robots' P...mentioning

confidence: 99%

Selected Issues, Methods, and Trends in the Energy Consumption of Industrial Robots

Sękala,

Blaszczyk,

Foit

et al. 2024

Energies

View full text Add to dashboard Cite

Industrial robots, like all machines, require energy to operate, which is why energy efficiency in industrial robotics has been a subject of consideration in recent years in many scientific and industrial centers. Interest in the topic is especially noticeable in Industry 4.0. Research on energy efficiency stems from the emergence of new possibilities in terms of making strategic decisions related to manufacturing processes. As energy-efficient production is an essential part of sustainable development, the energy efficiency of industrial robots must be considered. The need to reduce costs while maintaining quality and increasing production efficiency has necessitated the implementation of modern solutions aimed at reducing electricity consumption. The rational use of electrical energy, especially in the industrial sector, significantly reduces production costs and, consequently, contributes to a company’s profits and competitiveness. This article aims to provide an overview of energy efficiency issues based on recently published articles. This article discusses the appropriate selection of robots, their programming, energy-efficient trajectory planning, and the monitoring of the operation of the robotic system to minimize energy consumption. Typical industrial applications of robots are also mentioned and discussed.

show abstract

Section: Energy Efficiency In Robotics: Reducing Industrial Robots' P...mentioning

confidence: 99%

Selected Issues, Methods, and Trends in the Energy Consumption of Industrial Robots

Sękala,

Blaszczyk,

Foit

et al. 2024

Energies

View full text Add to dashboard Cite

show abstract

“…The electro-mechanical model of the actuators of the robot is developed by assuming that brushless DC motors are used as in [23,31]. The torque exerted by the j-th motor τ m,j = τ j /K r is proportional to the current i j (t) drawn by the motor itself as:…”

Section: Electro-mechanical Modelmentioning

confidence: 99%

“…Energy efficiency can also be enhanced by evaluating the performance of the robot throughout its workspace and by optimizing the location of the task with respect to the base of the manipulator. The positioning of the robot with respect to the required task is indeed essential not only for the correct execution of the operation, such as for example in robotic painting [27][28][29] or pick-and-place operations [15,30,31] but also to minimize the expenditure of energy required by the actuators.…”

Section: Introductionmentioning

confidence: 99%

Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

et al. 2020

Self Cite

View full text Add to dashboard Cite

Enhancing energy efficiency is one of the main challenges of today’s industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal position of the task relative to the robot can indeed reduce the actuators’ effort and the energy consumption required to complete the considered operation. The dynamic and electro-mechanical models of the manipulators are developed and implemented to estimate the energy consumption of a parametrized motion with trapezoidal speed profile, i.e., a pick-and-place operation. Numerical results provide energy consumption maps that can be adopted to place the starting and ending points of the task in the more energy-efficient location within the robot workspace.

show abstract

“…The importance of this concept is testified by abundant literature including both theoretical and experimental studies for enhancing the energy efficiency in manipulators and automatic machines [23]. The main approaches to achieve this goal are: (1) the proper choice of the manipulator type, [24] (2) designing lightweight manipulators with lower inertia, [25,26] (3) optimization of manipulator structure, [27] using regenerative drive systems, [28,29] trajectory planning and motion planning, [30,31,32] applying redundancy on non-redundant manipulators, [33,34,35,36] optimizing location of the task with respect to the base of the manipulator [37,38] and joint force/torque minimization [13,39,40] and introduction of complaint or elastic elements into the manipulator [41,42].…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Zarkandi

2021

Robotica

View full text Add to dashboard Cite

Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

show abstract

Task-Dependent Energetic Analysis of a 3 d.o.f. Industrial Manipulator

Cited by 6 publications

References 17 publications

Selected Issues, Methods, and Trends in the Energy Consumption of Industrial Robots

Selected Issues, Methods, and Trends in the Energy Consumption of Industrial Robots

Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Contact Info

Product

Resources

About