The Concept of Natural Motion for Pick and Place Operations

Barreto, Juan Pablo; Schöler, Frederic; Corves, Burkhard

doi:10.1007/978-3-319-45450-4_9

Cited by 24 publications

(24 citation statements)

References 6 publications

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“…A possible drawback of this approach is when the end-effector has to be maintained in a fixed position (e.g., during a picking or a placing operation). This could be overcome by releasing the mechanical brake during the stop [94]. Two different approaches are presented in [97]:…”

Section: Natural Motionsupporting

confidence: 40%

“…This method involves the modification of the physical system by means of the insertion of elastic elements into the mechanism, with proper motion planning [13,[94][95][96][97][98], with the aim of exploiting the free vibration mode of a mechanical system performing a cyclic task. In this way, most of the required energy needed for carrying out the task could be supplied by the elastic elements instead of the actuators (i.e., elastic elements store energy during part of the cycle as potential elastic energy, and then they release it to the rigid bodies, increasing their kinetic energy).…”

Section: Natural Motionmentioning

confidence: 44%

“…Barreto et al [94] consider a multibody optimization of a two-degrees-of-freedom, five-bar linkage in order to find the proper joints' spring constants as well as the trajectory that minimizes the torque requested to the motor, exploiting the natural motion. The formulation for both the NDM and NDE approaches are derived; that is, the best elastic constant and the optimal cycle frequency are computed, respectively.…”

Section: Natural Motionmentioning

confidence: 46%

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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: Natural Motionsupporting

confidence: 40%

Section: Natural Motionmentioning

confidence: 44%

Section: Natural Motionmentioning

confidence: 46%

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

2017

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“…J.P. Barreto et al exploit the free response of a five bar linkage mechanism [103] and of a Delta robot (Figure 7) [81] to move the system between two given points for a pick-and-place operation in a prescribed time. To reach such a result, a set of springs with optimized parameters (stiffness and equilibrium positions) are added in parallel to the motors.…”

Section: Free-vibration Responsementioning

confidence: 99%

“…N. Schmit et al [61,102] adopts the sequential quadratic programming (SQP) algorithm. A gradient-free method is implemented in Reference [103], where a downhill simplex algorithm is considered. In some cases, an analytical solution is found to the optimal design problem, avoiding the cost of setting up and solving numerical optimization problems.…”

Section: Design Optimization With Natural Motionmentioning

confidence: 99%

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

et al. 2019

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Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. This motion can be both a forced response assisted by a motor or a free response. The application of the natural motion concepts allows for energy saving in tasks characterized by repetitive or cyclic motion. This review paper proposes a classification of several approaches to natural motion, starting from the compliant elements and the actuators needed for its implementation. Then several approaches to natural motion are discussed based on the trajectory followed by the system, providing useful information to the researchers dealing with natural motion.

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Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots

Hill

Briot

Chriette

et al. 2019

Advances in Mechanism and Machine Science

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The reachable workspace of a robot carrying a payload is usually limited by the maximal value of the torque that each actuator can deliver. This results in limiting the zones for the robot to operate with the payload due to a possible division of its static-wrench workspace into several disconnected aspects. In order to increase the reachable workspace areas, this paper proposes to exploit the natural oscillations in dynamics, so that the robot can carry a payload which is out of its feasible static-wrench workspace, i.e. to perform motions between two disconnected aspects, while constraining the torques of the actuators. This is done thanks to the solution of a boundary value problem, which seeks to smartly exchange the gravity potential energy and the kinetic energy in order to connect two desired payload positions, which are placed in two disconnected aspects. Simulations of the suggested approach on a 2-degree-of-freedom robot are performed and show the efficiency of the proposed approach.

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The Concept of Natural Motion for Pick and Place Operations

Cited by 24 publications

References 6 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

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots

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