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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis



    Erscheinungsdatum :

    2020-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Enhancing energy efficiency of a 4-DOF parallel robot through task-related analysis

    Scalera L. / Boscariol P. / Carabin G. et al. | BASE | 2020

    Freier Zugriff

    Physically-Proximal Human-Robot Collaboration: Enhancing Safety and Efficiency Through Intent Prediction

    McGhan, C. / Atkins, E. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2009



    Multi-robot task acquisition through sparse coordination

    Gemignani, Guglielmo / Klee, Steven D / Nardi, Daniele et al. | BASE | 2015

    Freier Zugriff

    Robot task specification and execution through relational positioning

    Rodríguez, Adolfo / Basañez, Luis / Celaya, Enric | BASE | 2007

    Freier Zugriff