This paper aims at investigating vibrational behaviors of the industrial manipulator Racer 7-1.4, designed and manufactured by COMAU S.p.A., with the target of new trajectory planning strategies to improve productivity rate without any loss of positioning accuracy. Starting from the analysis of a 9DoF multi-body system with lumped parameter, the first natural frequency of the robot was calculated in seven reference positions. Then, static and dynamic simulations were run by applying saturated ramp input and large motions to analyze the vibrational behavior of the manipulator. This research underlines that the optimal way to design the robot move is to set its duration at twice a period of free oscillation according to the first vibrational mode. Due to strong analogy of dynamic response of both 1DoF and 9DoF robot models, the closed-form solution of the 1DoF undamped system—featured by natural frequency equal to the first frequency of the 9DoF system—may be successfully adopted by the real-time trajectory planning process to predict residual vibration at move end-condition. This strategy was confirmed by experimental tests, allowing either residual vibration decrease and execution time reduction as well.

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The path towards decarbonization requires a progressive adaptation of all refrigeration systems, but only stationary ones have been intensely studied to improve their environmental performance. However, refrigerated transport is a vital piece of the cold chain, and it must be considered in the green transition. In this paper, we propose a model for a hybrid refrigerated van that includes photovoltaic panels and electric batteries to decrease total greenhouse gas emissions from the engine. Thermal, electrical, and battery sub-models are considered and integrated into the comprehensive hybrid solar-powered refrigerated van model. Different technologies are compared in economic terms, including Lithium and Lead-acid batteries and three different types of photovoltaic panels. The model was validated regarding van fuel consumption, showing a 4% deviation. Single and multiple delivery scenarios are considered to assess the energetic, economic, and environmental benefits. Monthly CO2,e emissions could be reduced to 20% compared to a standard refrigerated van. Despite the environmental benefits provided by this sustainable solution, the payback period is still too long (above 20 years) because of the necessary investment to adapt the vehicle and considering fuel and electricity prices currently.

The path towards decarbonization requires a progressive adaptation of all refrigeration systems, but only stationary ones have been intensely studied to improve their environmental performance. However, refrigerated transport is vital in the cold chain and must be considered in the green transition. In this paper, we propose a model for a hybrid refrigerated van that includes photovoltaic panels and electric batteries to decrease total greenhouse gas emissions from the engine. Thermal, electrical, and battery sub-models are considered and integrated into the comprehensive hybrid solar-powered refrigerated van model. Different technologies are compared, including lithium and lead-acid batteries and three different types of photovoltaic panels. The model was validated regarding van fuel consumption, showing a 4% deviation. Single and multiple delivery scenarios are considered to assess the energy, economic, and environmental benefits. Monthly CO2,e emissions could be reduced by 20% compared to a standard refrigerated van. Despite the environmental benefits provided by this sustainable solution, the payback period is still too long (above 20 years) because of the necessary investment to adapt the vehicle and considering fuel and electricity prices currently.