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

Published online by Cambridge University Press:  10 June 2022

Erick-Alejandro González-Barbosa ,
Max Antonio González-Palacios ,
Luz Antonio Aguilera-Cortés ,
José-Joel González-Barbosa Open the ORCID record for José-Joel González-Barbosa [Opens in a new window] ,
Juan Pablo Serrano-Rubio  and
José Ángel Colin Robles
Erick-Alejandro González-Barbosa
Affiliation:
Tecnológico Nacional de México/ITS de Irapuato, Irapuato, Mexico
Max Antonio González-Palacios
Affiliation:
Universidad de Guanajuato, División de Ingenierías Campus Irapuato-Salamanca, Salamanca, Mexico
Luz Antonio Aguilera-Cortés
Affiliation:
Universidad de Guanajuato, División de Ingenierías Campus Irapuato-Salamanca, Salamanca, Mexico
José-Joel González-Barbosa*
Affiliation:
Instituto Politécnico Nacional. CICATA, unidad Querétaro, Ciudad de Mexico, Mexico
Juan Pablo Serrano-Rubio
Affiliation:
Tecnológico Nacional de México/ITS de Irapuato, Irapuato, Mexico
José Ángel Colin Robles
Affiliation:
Tecnológico Nacional de México/ITS de Irapuato, Irapuato, Mexico
*
*Corresponding author. E-mail: jgonzalezba@ipn.mx
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Abstract

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%.

Keywords

energy optimizationadaptive robotserial robotkinematic modeldynamic model

Information

Type
Research Article
Information
Robotica , Volume 40 , Issue 11 , November 2022 , pp. 4143 - 4168
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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