Energy consumption analysis for an adaptive prototype of 3R industrial robot

Erick Alejandro González-Barbosa, Max Antonio González-Palacios, Luz Antonio Aguilera-Cortés, José Joel González-Barbosa, Juan Pablo Serrano-Rubio, José Ángel Colin Robles

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This article presents a methodology to reduce the energy consumption of an industrial robot. We propose a design for a 3R serial manipulator of general geometry. We show an analytical model aiming to analyze the search space of architectures based on the torsion angles of the robot to determine the optimal architecture that allows the efficient use of energy. The analytical model provides a theoretical estimation of the energy consumption and is validated by monitoring the experimental robot. The numerical calculations obtained with a particular case reduced the energy consumption by approximately 7.5%.

Original languageEnglish
Pages (from-to)4143-4168
Number of pages26
JournalRobotica
Volume40
Issue number11
DOIs
StatePublished - 10 Nov 2022

Keywords

  • adaptive robot
  • dynamic model
  • energy optimization
  • kinematic model
  • serial robot

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