Energy Evaluation Applied to Serial Manipulator

Serial manipulators are highly used in industrial applications, and the need to minimize their energy consumption is apparent. There are investigations that analyze the optimization of energy consumption of these robots based on several factors, and publications that study design parameters to analyze work space and dynamic behavior. The contribution of this paper shows that energy consumption can be improved from a correct selection of torsion angles as design parameters. The dynamic models applied here have been validated experimentally through the monitoring of the variable joints of a 3R prototype adaptive during operation. The results obtained from the dynamic analysis of the serial manipulator show that the energy consumption is improved based on the value of the torsion angles.