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

Autor:	Erick-Alejandro González-Barbosa, Max Antonio González-Palacios, Luz Antonio Aguilera-Cortés, José-Joel González-Barbosa, Juan Pablo Serrano-Rubio, José Ángel Colin Robles
Rok vydání:	2022
Předmět:	Control and Optimization Control and Systems Engineering General Mathematics Mechanical Engineering Modeling and Simulation Software Computer Science Applications
Zdroj:	Robotica. 40:4143-4168
ISSN:	1469-8668 0263-5747
Popis:	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%.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::744ec84f9e57d7b4d804b54843bc2592 https://doi.org/10.1017/s0263574722000832 Zobrazit plný text záznamu