Energy consumption is an important issue for mobile robots that carry a limited energy sources, like batteries, for a long period of time. An energy model can relate the kinematic movements of the robot with energy values, giving an estimation of the energy needed for the robot to fulfill a specific task. In this study an energy model is proposed, based on the dynamic parameters of the mobile robot, as well as the motors, given an energy value close to real energy consumption. Mixed energy model is tested with a well-known motor energy model, using the velocities related to straight and curvature paths as input. In the results, a higher energy consumption value is identified by the mixed energy model, especially when the acceleration of the mobile robot increases. Energy models are configured with P3-DX robot mobile parameters.

Cable-driven transmissions are used widely in robotic applications. However, design variables and parameters of this kind of transmission remain under study, both analytically and experimentally. In this paper, an experimental test bench to evaluate the behavior of medium-low power pulley-cable transmissions is presented. The design of the test bench allows manipulating variables such as dimensions, external load, speed, and cable tension. The system consists mainly of a brushless direct current (DC) motor, two load cells to measure the mechanical reactive force in the motor, two dismountable pulleys, two drums, a perforated disk, and several masses that provide the load and the inertial load, and electronic modules to control the speed and position of the pulley. Special attention was paid to the calibration of the load cells, focused in compensating the effect of creep. Validation tests were carried out in order to evaluate the device design. Next, pilot experiments were performed to estimate the friction behavior in the transmission. Preliminary results suggest that the friction in the transmission is largely governed by the friction behavior of the bearings.

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