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L. Scalera, P. Boscariol, G. Carabin, R. Vidoni, A. Gasparetto
Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis
Machines, 8(1), 10, 2020

Abstract: 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 wit 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.


Area: Robotica
Attività: RobTraj: studio di traiettorie per robot

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