Abstract
This article discusses the relocation of manipulator joints and motion planning as methods to reduce energy consumption in robotic manipulators. A 3-RRS dynamically balanced parallel manipulator for manufacturing operation is designed and on which the numerical simulation is practiced for demonstration. The dynamically balanced robot contains additional balancing components and requires additional energy to drive, which makes energy problem significant. Through the optimization of adjustable joint locations in supplement to motion planning, it promotes green operations of robots in energy saving while eliminating vibration and noise problems.
| Original language | English |
|---|---|
| Pages (from-to) | 518-525 |
| Number of pages | 8 |
| Journal | International Journal of Robotics and Automation |
| Volume | 34 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 29 Aug 2019 |
| Externally published | Yes |
Keywords
- Adaptive structure
- Dynamic balancing
- Energy consumption
- Motion planning
- Optimization
- Parallel manipulators
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Modelling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence