Abstract
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.
Highlights
The development of state-of-the-art robotics and industrial manufacturing systems requires the adoption of high energy-efficient machines, especially when dealing with high speed operations performed for long periods of time
The positioning of the robot with respect to the required task is essential 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] and to minimize the expenditure of energy required by the actuators
By considering the forward kinematics of the 4-DOF parallel manipulator, which aims at calculating the pose vector X by knowing the joint variables vector q, the problem leads to an eight-order polynomial in the fourth variable θ
Summary
The development of state-of-the-art robotics and industrial manufacturing systems requires the adoption of high energy-efficient machines, especially when dealing with high speed operations performed for long periods of time. The positioning of the robot with respect to the required task is essential 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] and to minimize the expenditure of energy required by the actuators In this context, several local and global performance metrics have been proposed in the literature to investigate the behavior of industrial machines and robots. The work is the extended version of a preliminary conference paper presented in [38] It is organized as follows: Section 2 reports the kinematic and dynamic models of the robot, Section 3 introduces the electro-mechanical model of the actuators, and in Section 4 the task-dependent analysis is described.
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