Design and analysis of a proposed light weight three DOF planar industrial manipulator

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

“…In this manner, the driving torque can be reduced, in turn using less energy and leading to an easier control [1,2,6,7,10,12,16,18]. In [7], arms made of an ultralight carbon-fibre-reinforced polymer are studied, while in [18], an optimal design of a serial-link robotic manipulator is evaluated.…”

“…In [11], a robotic system based on a parallel mechanism with redundant actuation is evaluated, showing possibilities to reduce electric power loss, peak torque of actuating joints and friction loss. [4] 2001 Conference paper Robot type --3-DoFs parallel manipulator and serial manipulator [5] 2014 Conference paper Robot type --Underactuated serial kinematics [11] 2015 Journal paper Robot type --Parallel manipulator with redundant actuation [19] 2015 Conference paper Robot type --Parallel manipulator with redundant actuation (3RRR) [15] 2010 Review Replacement Electric actuator -Generic mechatronic system [17] 2009 Journal paper Replacement Pneumatic -Generic pneumatic system [7] 2002 Conference paper Replacement Reduction of components weight Lighter arms Redundant serial robot (7 DoFs) [18] 2016 Conference paper Replacement Reduction of components weight Lighter arms Serial robot (5 DoFs) [1] 2007 Journal paper Replacement Reduction of components weight Lighter joints Redundant serial robot (7 DoFs) [6] 2008 Journal paper Replacement Reduction of components weight Lighter joints Redundant serial robot (7 DoFs) [2] 2016 Conference paper Replacement Moving the actuators at the base -Serial robot (3 DoFs) [10] 2015 Conference paper Replacement Moving the actuators at the base -Elbow joint (1 DoF) wrist joint (3 DoFs) [12] 1993 Journal paper Replacement Moving the actuators at the base -Redundant serial robot (7 DoFs) [16] 2012 Journal paper Replacement Moving the actuators at the base -Underactuated serial kinematics [20] 2015 Conference paper Addition Energy-storing devices Flywheel Serial robot (6 DoFs)-ABB IRB 140 [21] 2011 Conference paper Addition Energy-storing devices Flywheel Serial robot (3 DoFs)-crane [22] 2012 Conference paper Addition Energy-storing devices Hydraulic Generic hydraulic system [23] 2014 Journal paper Addition Energy-storing devices Hydraulic Generic hydraulic system [24] 2011 Conference paper Addition Energy-storing devices Pneumatic Hybrid pneumatic/electric system [25] 2016 Conference paper Addition Energy-storing devices Pneumatic Generic pneumatic system [26] 2013 Conference paper Addition Energy-storing devices Several Generic mechatronic system [27] 2011 Conference paper Addition Energy-storing devices Supercapacitor Mechatronic system (1 DoF)-elevator [28] 1997 Conference pap...…”

“…Following the well-known idea of reducing the moving masses by moving the actuator to the robot base [2,10,12,16], different solutions have been proposed for serial-link manipulators. In these works, the opportunity of installing the motor near or on the chassis is often achieved by transferring the motion via pulleys and timing belts.…”

“…In these works, the opportunity of installing the motor near or on the chassis is often achieved by transferring the motion via pulleys and timing belts. In [2], a planar redundant manipulator with three degrees of freedom is presented, in which the motion is transferred through aluminium pulleys, bearings, and timing belts. In [10,12], a lightweight tension amplifying mechanism is used: a joint is moved by pushing and pulling two cords connected on it, on diametrically opposed positions.…”

“…2. Hardware replacement: The re-design or substitution of components with more efficient components (i.e., more-efficient or lighter components, or both) [1,2,6,7,10,12,16,18]. 3.…”