TY - JOUR
T1 - Energy consumption analysis for an adaptive prototype of 3R industrial robot
AU - González-Barbosa, Erick Alejandro
AU - González-Palacios, Max Antonio
AU - Aguilera-Cortés, Luz Antonio
AU - González-Barbosa, José Joel
AU - Serrano-Rubio, Juan Pablo
AU - Robles, José Ángel Colin
N1 - Publisher Copyright:
© The Author(s), 2022. Published by Cambridge University Press.
PY - 2022/11/10
Y1 - 2022/11/10
N2 - 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%.
AB - 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%.
KW - adaptive robot
KW - dynamic model
KW - energy optimization
KW - kinematic model
KW - serial robot
UR - http://www.scopus.com/inward/record.url?scp=85141245335&partnerID=8YFLogxK
U2 - 10.1017/S0263574722000832
DO - 10.1017/S0263574722000832
M3 - Artículo
SN - 0263-5747
VL - 40
SP - 4143
EP - 4168
JO - Robotica
JF - Robotica
IS - 11
ER -